Beer Dinamica - Capitulo 15

PROBLEM15.
1
The motion oI a cam is deIined by the relation = 4t
3
-12t
2
+15,
where is expressed in radians and t in seconds. Determine the angular
coordinate, the angular velocity, and the angular acceleration oI the cam
when (a) t = 0, (b) t = 6 s.
SOLUTION
8 = (4t
3
-12t
2
+
dt
a = = ( 24)rad/s
2
dt
(a) t = 0, = 15.00 radians 4
a = -24.0 rad/s
2
4
(b) t = 6s, 8 = - +15 = 447 = 447 4
= - = 288 = 288 4
a = - 24 = 120 a = 120.0 4
PROBLEM15.2
I
For the cam in Prob. 15.1, determine the time, angular coordinate, and
angular acceleration when the angular velocity is zero.
SOLUTION
8 =(4t
3
-12t
2
+
= = 12t - 24t
dt
dw
- (24t - 24)rad/s
2
dt
Set = 0, and solve the quadratic equation Ior t. The roots are
t O and and 2.00
8 =15.00 radians
a = -24.0
= - +15 = -1 = -1.000 radian
a = - 24 = 24 a = 24.0 rad/s
2
PROBLEM15.3
The motion oI an oscillating Ilywheel is deIined by the relation
= where is expressed in radians and in seconds.
Knowing that =0.5 determine the angular coordinate, the angular
velocity, and the angular acceleration oI the Ilywheel when (a) t = 0,
(h) t =0.125 s.
SOLUTION
= 0.5
= = 0.5 cos - sin
dt
= = 0.5 cos +1 sin + sin -
= 0.5 sin - cos
(a) t = = (0.5) = 0.500 4
= = -4.71 = -4.71 rads
a = = -34.5 a = -34.5
(b) t = = = 0, = sin-= 1
2 2
= 0.30786
=
= =-1.93437 = -1.934
a = = 36.461 a = 36.5 4
PROBLEM15.4
The motion oI an oscillating Ilywheel is deIined by the relation
= where is expressed in radians and in seconds.
Knowing that = 0.4 rad, determine the angular coordinate, the angular
velocity, and the angular acceleration oI the Ilywheel when
(a) a.
SOLUTION
sin + cos
6
2 2
- sin4nt
6 6
o 3
(a) = 0.4 = 0.125
- sin-= COS-
2' 2 2
= = 0.25298 radians
8= 0.253
= (1) -0.92722
= -0.927
a = n
2
(l ) = -36.551 a = -36.6
o
=
PROBLEM15.5
The rotor oI a gas turbine is rotating at a speed oI 7200 rpm when the
turbine is shut down. It is observed that 5 min is required Ior the rotor to
coast to rest. Assuming uniIormly accelerated motion, determine (a) the
angular acceleration, (b)the number oI revolutions that the rotor executes
beIore coming to rest.
SOLUTION
= 7200 rpm = =
60
t = 5 min = 300
- 0 -
= rad/s
2
,
300
= + -at
2
1
= + = rad
2
= 18000 rev = 18000 rev
PROBLEM15.6
When the power to an electric motor is turned on the motor reaches its
rated speed oI 2400 rpm in 4 and when the power is turned oII the
motor coasts to rest in 40 s. Assuming uniIormly accelerated motion,
determine the number oI revolutions that the motor executes in
reaching its rated speed, in coasting to rest.
SOLUTION
. .
= 2400 rpm =
(2400)
= = = 4 s
60
= -at
2
= = = =
2 2
= 80 rev4
= = - 40 s
0 -
=
-
40
I 2
- = - + - = +
2
= radians = = 800 rev - = 800 rev
PROBLEM 15.7
The angular acceleration oI an oscillating disk is deIined by the relation
a = Determine the value oI k Ior which =12 when
= and = rad when = the angular velocity oI the disk
when = 3 rad.
SOLUTION
Integrating,
I
PROBLEM15.8
The angular acceleration oI a shaIt is deIined by the relation a =
where a is expressed in racUs
2
and in rads. Knowing that at t =
the angular velocity oI the is 30 determine (a) the number oI
revolutions the shaIt will execute beIore coming to rest, (b) the time
required Ior the shaIt to come to rest, (c)the time required Ior the angular
velocityoI the shaIt to reduce to 2 percent oI its initial value.
SOLUTION
aw
a = w-= =
Integrating, = -30 = -0.58
60
8 = 60 radians = = 9.55 rev 8 = 9.55 rev 4
aw
- at
at
a o
Integrating, = -2f -
0
30
= = 0.6
6
= -
0.6
t t =7.82
30
9
PROBLEM15.9
The assembly shown consists oI two rods and a rectangular plate
which are welded together. The assembly rotates about the axis with a
constant angular velocity oI 10 Knowing that the rotation is
counterclockwise as viewed B, determine the velocity and
acceleration oI comer
SOLUTION
= (500 - (225 j + (300 k = (0.5 m) i - (0.225 m) + (0.3 m) k
= + 0.225' + = 0.625 m

10
-
0.625
= (8 - (3.6 j + (4.8
= = m)k
= + = =
i j k
8 -3.6 4.8
0 0 -0.3
= (1.080 i + (2.40

= cox =
a, = + (5.18 m/s
2
)j + (23.1 m/s
2
)k
i j k
8 -3.6 4.8
1.08 2.4 0
=-11.521 + +
PROBLEM15.10
In Prob. 15.9, determine the velocity and acceleration of comer C,
assuming that the angular velocity is 10 and decreases at the rate of
20
SOLUTION
= (500 - (225 mm) j+ (300 = (0.5 m)i - (0.225m) + (0.3m)k

=
a, = +
= + 18i + -
= + -
i j k
-16 7.2 -9.6
'-0.5 0
+
k
8 -3.6 4.8
0 -2.4 -1.8
PROBLEM15.11
The rectangular block shown rotates about the diagonal with a
constant angular velocity oI 6.76 Knowing that the rotation is
counterclockwise as viewed A, determine the velocity and
acceleration oI point Bat the instant shown.
I
SOLUTION
= (100 + (624 mm) + (240 mm) k = (0.1 m)i + (0.624 m) + (0.24 m)k
= +(312 = (0.1 m)i + (0.312 m) j
= + + = 0.676 m
6.76
= + +
0.676
= (1.0 i + (6.24 j + (2.4 k

= x
=
i j k
1.0 6.24 2.4
0.1 0.312 0
= + -
= + (0.240 j - (0.312 k 4

=
= - (1.485 j + (4.91
i
1.0 6.24 2.4
-0.7488 0.24 -0.312
= -2.522 - +
PROBLEM15.12
In 15.11, the velocity and acceleration oI point Bat the
instant shown, assuming that the angular velocity is 3.38 and
decreases at the rate oI 5.07
I
SOLUTION
= mm) + (624 +(240 mm)k = (0.1 m) + (0.624 m) + (0.24 m)k
= = (0.1 m)i
= + + = 0.676 m

3.38
= + +
0.676
o = (0.5 +(3.12 radls) j + (1.2 radls)k

X
=
= +(0.1200 j - (0.1560

-5.07
+ +
0.676
a = -(4.68 j -(1.8 k
i j k
0.5 3.12 1.2
0.1 0.312 0
= + -
PROBLEM15.12 CONTINUED

= a x + o x
a, =
= 0.56163- + - 0.630723- +
a, = - (0.551m/s
2
) j + (1.462 m/s
2
)k
+
i
-0.75 -4. 68 -1.8
0.1 0.312 0
i
0.5 3.12 1.2
-0.3744 0.12 -0.156
PROBLEM15.13
The bent rod rotates about a line joining points and with a
constant angular velocity oI 12 Knowing that the is
clockwise as viewed determine the velocity oI comer
SOLUTION
= -16i +16j + in. = + + =

12
= = +16j +
24
= -(8 + (8 + (4 rads)k
= -(16 in.) + (6 in.)

= =
j k
-8 8 4
-16 6 0
= -24i - 64j +
= - (64.0 + (80.0 k

0
j k
-8 8 4
-24 -64 80
= + + 704k
= (896 +(544 + (704 k
PROBLEM15.14
In Prob. 15.13, determine the velocity and acceleration oI comer B,
assuming that the angular velocity is 12 and increases at the rate oI
60 rad/s
2
.
SOLUTION
Angular velocity.
Angular acceleration.
Velocity oI B.
X
= (-8i +8j + 4k) x = 40i + 80k
= (40.0 + (80.0
AccelerationoI B.
a,
j k
-8 8 4
40 0 80
= 200i +400k + 640i + 800j -320k
a, = (840 + (800 in.ls
2
) +(80.0
PROBLEM15.15
The earth makes one complete revolution on its axis in 23 h 56 min.
Knowing that the mean radius oI the earth is 6370 determine the
linear velocity and acceleration oI a point on the surIace oI the earth
at the equator, (b) at Philadelphia, latitude north, (c) at the North
Pole.
SOLUTION
23 h = 23.933 h = 86.16 x s, rev = rad
s
w = = 72.925 x
86.16 x
R = 6370 = 6.37 x m
= wj,
r = +
v = x r =
= x x = k
a = m x = wj = x
= = 1.000
v = k v = 465
= x m/s
2
)i = 0.0339
= 40") = 0.76604
v = k = v = 356
a = x
= = 0.0259
= 90") = 0
v =
=
PROBLEM15.16
The earthmakes one complete revolution around the sun in 365.24days.
Assuming that the orbit of the earth is circular and has a radius of
93,000,000mi, determine the velocityand accelerationof the earth.
93,000,000 mi = 491.04 x
365.24days = 31.557 x s, 1 rev = rad
SOLUTION

= = x = 97.77 x
=

= = (97.77 x = 19.47
a = 19.47 x
PROBLEM15.17
The belt shown moves over two pulleys without slipping. At the instant
mm
shown the pulleys are rotating clockwise and the speed oI point Bon the
belt is 4 increasingat the rate oI 32 m/s
2
. Determine, at this instant,
the angular velocity and angular acceleration oI each pulley, (b) the
acceleration oI point on pulley
SOLUTION
Let v, and be the belt speed and acceleration. These are given as = 4 and = 32 m/s
2
.
These are alsothe speed and tangential acceleration oI periphery oI each pulley provided no slipping occurs.

4
= -
= 25.0 4
0.160
32
4
0.160
= =
-
= 40.0 )
0.100
32
-
320
0.100
= 100mm =
= = 32 m/s
2
2
0.100
=
= =163.2 m/s
2
32
-
160
= 163.2m/s
2
PROBLEM15.18
The belt shown moves over two pulleys without slipping. Pulley starts
rest with a clockwise angular acceleration deIined by the relation
a =120 - where a is expressed in and is expressed
in Determine, aIter one-halI revolution oI pulley the
magnitude oI the acceleration oI point B on the belt, (h) the acceleration
oI point Pon pulley C.
SOLUTION
-rev = radians, = 160 = 0.160 m, =100 = 0.100 m
2
= 120-0.002w
2
= w-,
120 - 0.002w
2
60000 -
Integratingand applying initial condition = at = and noting that 8 = radians at the Iinal state,
500wdw
60000 -
= -250 - = =
-250 60000- w
2
) - ln = -250
60000 -
60000
60000-
60000
= = 749.26
= 27.373
a =120 -0.002 = 120- = 118.50

(0.160) (27.373) 4.3797
= = = =18.96 m/s
2
=18.96
=
= = 4.3797
2
-
0.100
PROBLEM15.19
The belt sander shown is initially at rest. II the driving drum B has a
constant angular acceleration oI 120 counterclockwise, determine
the magnitude oI the acceleration oI the belt at point C when
t = = 2 s.
SOLUTION
r = .OO in., a = 120
2
o = at , = ra = =
= 0.5 s, = = 60 = = 120
= (I = 3600in.k
2
= = 3602
=
= 2s, = = 240 a, = =120 in.k
2
= (I = 57600
= = 57600
= 4800
PROBLEM15.20
The rated speed oI drumB oI the belt sander shown is 2400 rpm. When
the power is turned oII, it is observed that the sander coasts Irom its rated
speed to rest in s. Assuming uniIormly decelerated motion, determine
the velocity and acceleration oI point oI the belt, (a) immediately
beIore the power is turned oII, ( b)9 s later.
SOLUTION
= 2400 rpm = = radls, r = .OO in.
60
(a) Before power is turnea a =
= = = 251.33 = 20.9 4
r
63165
.oo
a, = r a = = 63165 in./s
2
, = 5260 4
(b) Uniformly aeceleratea motion. =
0 -
-
10
At 9s, = + a t = - =
= = = 25.133 = 2.09
25.133
=-= = 631.65
1.00
(a
c
), = = = -25.133 in./s
2
= = 632.15 i nh
2
= 52.7 4
PROBLEM15.21
A series oI small machine components being moved by a conveyor belt
passes over a 120-mm-radius idler pulley. At the instant shown, the
velocity oI point A is 300 to the and its acceleration is
180 to the right. Determine (a) the angular velocity and angular
acceleration oI the idler pulley, (b) the total acceleration oI the machine
component at B.
SOLUTION
= = 300 =120
= = 180
=
- 2.5 = 2.50 4
120
= a =
180
--= a = 1.500
120
= = = 750mm/s
2
a, = =
= 771
= = 76.5' a, = 771mm/s
2
180
PROBLEM15.22
A series oI small machine components being moved by a conveyor belt
passes over a 120-mm-radius idler pulley. At the instant shown, the
angular velocity oI the idler pulley is 4 clockwise. Determine the
angular acceleration oI the pulley Ior which the magnitude oI the total
acceleration oI the machine component at B is 2400
SOLUTION
= = (I = 1920mm/s
2
= 2400 mm/s
2
= -1 = 1440mm/s
2
=
= - =
120
12.00 or
PROBLEM15.23
Agear reduction -- consists ofthree gears A, B, and Knowing
that gear A with a constant anguIar velocity
= 600 determine (a) the angular velocities of gears B and C,
(b) theaccelerationsofthe pointsongearsBandCwhichare incontact.
SOLUTION
60
Let points and lieattheaxIesof A, and respectively.
Let the contact point gearsA
= =
60
Let bethe contactpoint gears
= =
- = 60 =
150
-
Ongear B:
Ongear
=16.45
PROBLEM15.24
Agear reduction systemconsists oI three gears A, B, and C. Gear A starts
rest at time = and rotates clockwise with constant angular
acceleration. Knowing that the angular velocity oI gear A is 600 at
time = 2 s, determine (a)the angular accelerations oI gears B and (b)
the accelerations oI the points on gears B and C which are in contact
when =0.5 s.
50 100
SOLUTION
(a) At time = 2s, = = =
60
= = =
Let Dbe the contact point between gears A andB.

(50)
=- =
Let Ebe the contact point between gears B and C.
-
= 5.24 >
(b) At = 0.5 s. For gear B, = = =
3.0843 3.0843
= = 785.40 0.785
= + 0.7854' =
= a, = 3.18
3.0843
For gear C, = = = 0.83333~
= = = 1.02808 = 1.02808
= 0.7854
+ 1.294
0.7854
= = a, = 1.294
1.02808
PROBLEM15.25
Ring B has an inner radius and hangs from the horizontal shaIt A as
shown. Knowing that shaIt A rotates with a constant angular velocity
and that no slipping occurs, derive a relation in oI and
Ior the angular velocity oI ring B, the acceleration oI the
pointsoI shaIt A and ringBwhichare in contact.
Let point be the point oI contact betweenthe shaIt and the ring.
=
, ,

=

=
PROBLEM15.26
Ring B has an inner radius and hangs Irom the horizontal shaIt A as
shown. ShaIt A rotates with a constant angular velocity oI 25 and no
slipping occurs. Knowing that = 0.5 in., = 2.5 in., and = 3.5
in., determine the angular velocity oI ring B, the acceleration oI
the points oI A and ring Bwhichare in contact, (c) the magnitudeoI
the acceleration oI a point on the outside surIace oI ring B.
Let point be the point oI contact betweenthe and the ring.

= = = 12.5
= 5.00 4
2.5
= =
= 312.5 in./s
2
, a, = 26.0
On ring B: = =
= 62.5 in./s
2
, a, = 5.21 4
(c) At a point on the outside oI the ring, r = = 3.5 in.
2
= = = 87.5 = 7.29
PROBLEM15.27
Cylinder A is moving downward with a velocity oI 3 when the brake
is suddenly applied to the Knowing that the cylinder moves 6 m
downward beIore coming to rest and assuming uniIormly accelerated
motion, determine the angular acceleration oI the drum, the time
required Ior the cylinder to come to rest.
the surIace oI the drum,
SOLUTION
=
=

-
- s =
PROBLEM15.28
The system shown is held at rest by the brake-and-drum systemshown.
the brake is partially released at t = it is observed that the
cylinder moves m in s. Assuming uniIormly accelerated motion,
determine the angular acceleration oI the drum, (b) the angular
velocity oI the at t = s.
111111
I
Assume uniIormly accelerated motion. =
For the drum, = = m/s

2
, = mm = m
= =-

= = radls
2
= + = +
= = 4
PROBLEM15.29
Two blocks and a pulley are connected by inextensible cords as shown.
The relative velocity oI block A with respect to block B is 2.5 to the
in
at time = and 1.25 to the leIt when =0.25 s. Knowing that the
angular acceleration oI the pulley is constant, the relative
accelerationoI block A with respect to block B, (b) the distance block A
moves relativeto block Bduring the interval 0.25 s.
SOLUTION
For the pulley,
-
7.5 - 15 \
= = -30 = 30 ,
0.25
= - = 5 = 5.00
x,,, = 5.63 in.-
PROBLEM15.30
A
The relative velocity oI block A with respect to block is 3 to the leIt
at time t = and 1.5 to the leIt aIter one-halI revolution oI the pulley.
I
Knowing that the angular acceleration oI the pulley is constant, Iind
the relative acceleration oI block A with respect to block B, (b) the
distance block A moves relative to block B during the interval
0.3 s.
SOLUTION
For the pulley,
1
r - a, r, -(12)=
2 2 2
2 3
--,
=
I
2 3
1
At 8 = -rev = radian, - 9
2
2 3
- )a)- = aa8
at
= a = -38.675
2 2
a = 38.7
a, = = -(-38.675) = -19.3373 or 19.3373 -
2
1
a, = a = -(-38.675) = -12.8916 or 12.8916 -
3
a,, = a, - a, = -6.4458 or 6.4458 -
a,, = 6.45 -
1
= + = 0.60994 -
2
=7.32 in.
PROBLEM15.31
Disk B is at rest when it is brought into contact with disk A which is
rotating Ireely at 450 rpm clockwise. AIter 6 s oI slippage, during which
each disk has a constant angular acceleration, disk A reaches a Iinal
angular velocity oI 140 rpm clockwise. Determine the angular
accelerationoI each disk during the period oI slippage.
SOLUTION
= 450 ,=
60
= 140 =
= 4. 6667~radls
60
=
+ - = -1 +a, ( 6 )
a, =
Let be the contact point between the two gears.
At t = = (a, ) = =
) =
( a ) a t
= 0 +a, ( 6 )
= a, = 1.466
6
PROBLEM15.32
Asimple Iriction drive consistsoI two disks A and B. Initially, disk A has
a clockwise angular velocity oI 500 rpmand disk B is at rest. It is known
that disk A will coast to rest in 60 s with constant angular acceleration.
However, rather than waiting until both disks are at rest to bring them
together, disk B is given a constant angular acceleration oI 2.5
counterclockwise. Determine (a) at what time the disks can be brought
together iI they are not to slip, (b) the angular velocity oI each disk as
contact is made.
SOLUTION
= 500 rpm,=
= 52.360
60
Assume uniIorm angular deceleration oI disk A during coasting.
= + a, t = -52.360 +
a, = 0.87266
= + a, t = -52.360 + 0.87266 t
Let be the contact point between the gears.
For gear A, = = - 8.7266 t )
= ( 3141.6 -
For gear B, a, = 2.5 ,
= =
= = t ) = 250t
(a) For condition at no slip, equate the two expressions Ior
250t = 3141.6 - t
= 250t = 2597.6
(b) Corresponaing angular velocities.
2597 6
= =-= 43.293
60
=
- 25.976
r, 100
= 4
PROBLEM15.33
Two Irictiondisks A and Bare to be brought into contact without slipping
when the angular velocity oI disk A is 240 rpmcounterclockwise. Disk A
starts Iromrest at time t = 0 and is given a constant angular acceleration
oI magnitude a. Disk B starts Irom rest at time t = 2 s and is given a
constant clockwise angular acceleration, also oI magnitude a. Determine
(a) the required angular accelerationmagnitude a, (b) the time at which
the contact occurs.
SOLUTION
When contact is made, = 240 =
Let be the contact point between the two gears.
= = = -
-
= =
=
Subtracting, = a =
PROBLEM15.34
Two disks A and B are brought into contact when the angular
velocity oI disk A is 240 rpm counterclockwise and disk B is at rest. A
period oI slipping Iollows and disk B makes 2 revolutions beIore reaching
its Iinal angular velocity. Assuming that the angular acceleration oI each
disk is constant and inversely proportional to the cube oI its radius,
determine (a) the angular acceleration oI each disk, the time during
which the disks slip.
SOLUTION
,(w, = 240 rpm =
= -
1
3
,
(- a, =
= 59.574 radians
, = a, =
a, =
Let be the velocityat the contact point.
(6) - ) -
and = = ) =
Equating the twoexpressions Ior ,
or
Then,
- 3.7037 s
a, 16.0850
4.3429 a, = 4.34
3.7037
3
a, = ($) (4.3429) =1.83218 a, = 1.832 4
Fromabove, = 3.70 s
I
PROBLEM15.35
In a continuous printing process, paper is drawn into the presses at a
constant speed Denoting by the radius oI the paper roll at any given
time and by the thickness oI the paper, derive an expression Ior the
angular acceleration oI the paper roll.
SOLUTION
Let one layer oI paper be unrolled.
and

--

PROBLEM15.36
Television recording tape is being rewound on a VCR reel which rotates
a with a constant angular velocity Denoting by the radius oI the reel
at any given time and by the thickness oI the tape, derive an expression
Ior the acceleration oI the tape as it approaches the reel.
SOLUTION
Let one layer oI tape be wound and let be the tape speed.
= and =

- =- =-
For the reel:

= 0
PROBLEM15.37
Rod AB can slide Ireely along the Iloor and the inclined plane. At the
SOLUTION
0.3
=-, =
0.5
0.3
tan8 = = 67.38"
0.125'
--
=
= 8
Plane motion = Translation withA + Rotationabout A.
Draw velocity vector diagram.
g, -8- - 59.49"
LawoI sines.
sin sin - sing,
sin 1 67.38"
sing, sin59.49"
1.5
=-= 3.00
0.5
= 3.00
1.3
sin sin59.49"
v, =1.300 67.4"
PROBLEM15.38
Rod AB can slide Ireely along the Iloor and the inclined plane. At the
instant shown the angular velocity oI the rod is 4.2
counterclockwise. Determine the velocity oI end A oI the rod, (b) the
velocity oI end BoI the rod.
mm
= 36.87" sin =-
0.5'
SOLUTION
--
A
= 4.2 ,
v, = v, 8
Plane motion = Translation with A + Rotation about A.
Drawvelocity vector diagram.
- 8- -
LawoI sines.
sing, - sin8
=
sin8 sin67.38"
v, =
v, =
sin8 sin67.38"
=1.820
PROBLEM15.39
Collar moves up with a velocity oI 3.6 At the instant shown when
determine the angular velocity oI rod (b) the velocityoI
collar
4
SOLUTION
A A
- -
LawoI sines.
=----
~ R I A
2.28
65"
=
= 3.98
sin sin
= 3.98
---=-
sin sin sing,
sin60"
sin sin
PROBLEM15.40
Rod AB moves over a small wheel at C while end A moves to the right
with a constant velocity oI 25 At the instant shown, determine
the angular velocity oI the rod, the velocityoI end BoI the rod.
SOLUTION
Slope angle oI rod.
7
tan0 =-= 0.7, 8 =
10
10
AC = = 12.2066 in. CB= 20- = 7.7934 in.
cos
--
= 25 -, = 8
Drawcorresponding vector diagram.
sin8 = = 14.34
14.34
=- =
12.2066
=
2 5 in,
= 25 = 20.479
= 9.1551
has same directionas
Drawcorresponding vector diagram.
9.1551
\
= 24.09'
\
20.479'
= = 22.4 = 1.869
cos cos24.09'
+ = 59.1'
=1.869 59.1' 4
PROBLEM15.41
The motion oI rod is guided pins attached at and which slide
in the slots shown. At the instant shown, = 40" and the pin at B moves
upward to the leIt with a constant velocity oI 150 Determine
the angular velocity oI the rod, the velocity oI the pin at end
SOLUTION
.
--
=150 15"
=
=
Plane motion =Translation with B+ Rotation about
- 50" - 75" 55"
LawoI sines.
sing,
150
=
sin50" sin
189.14
= 0.378
500
a = 0.378
150
= 160.4
sin sin50"
=
PROBLEM15.42
The motion oI rod AB is guided by pins attached at A and B which slide
in the slots shown. At the instant shown, = and the pin at A moves
downward with a constant velocity oI 225 Determine the
angular velocity oI the rod, the velocity oI the pin at end B.
SOLUTION
Velocity analysis.
v , = 225
=
Plane motion Translation with A + Rotationabout A.
- -
LawoI sines.
sing,
sin sin g, 75' 307.36225 sinsin 45"
500
= 0.615 4
sin 225sin
v, =
sing, sin45"
= 276
PROBLEM15.43
The disk shown moves in the plane. Knowing that = -282
(v,), = -296 and = -56 determine (a) the angular
velocityoI the disk, (b) the velocityoI point B.
, ,
A
in.
SOLUTION
units oI = x = x (24i + 24j) = +
= x = x =
+ j = - - +
Components. i : -296 =
: = -282 +
+ = -
: = -282 +
From = -56
-296 - (-56)
= = = 4
-24
From = -282 + = -42
= i - (42.0 in-Is) j 4
,
PROBLEM
In Prob. 15.43, determine (a) the velocity oI point (b) the point oI the
disk with zerovelocity.
in.
SOLUTION
In units oI = x = x (24i + 24j) = +
= x = x 48i =
+ j = i - - +
j: = -282 + 24u
+ = i - +
Components. i: -56 =
j: = -282 + 48m
= -56 = -
-296 -(-56)
= = = (10.00
-24
= + = + x = x
= -56i - 282j + 240j = -56i - 42j
= i - (42.0 j
= -56i - 42j + x (xi + = -56i - 42j + -
Components. i : y = -5.60 in.
j: 0 = = 4.20 in.
PROBLEM15.45
The sheet metal Iorm shown moves in the xy plane. Knowing that
=100 = -75 and = 400
determine(a) the angular velocity oI the plate, the velocity oI point A.
I
I
SOLUTION
In units oI = x = x + = +
= wk x = wk x (50i + = +
- 75j = + j - 75wi +
Components. i : =
j: -75 =
400i + = + j - +
Components. i :
= +
= -2 = -(2 k 4
= -75 - = -75 - =
v, = (100.0 i +(175.0 j 4
PROBLEM15.46
In 15.45, determine the locus oI points oI the sheet metal Iorm Ior
whichthe magnitude oI the velocityis 200
SOLUTION
In units oI
= x = x + = +
= x = x + = +
- 75j = + j - +
Components. i : =
j: -75 =
400i + = + - +
Components. i : 400 =
= +
= -(2 k
From(2). = -75 - = -75 - = 175
= (100 +
Find the point with zero velocity. Call it D. = 0
= v, +
or = + +(2k) x (xi + yj)
0 = + = 0
Components. i :
j:
v 200
Radius oI locus. =100
2
CircleoI 100.0 mmradius centered at x = -87.5 y = 50.0
PROBLEM15.47
In the planetary gear system shown, the radius oI gears A, B, C, and D is
60 mmand the radius oI the outer gear Eis 180 Knowing that gear E
has an angular velocity oI 120 clockwise and that the central gear has
an angular velocity oI 150 rpm clockwise, determine (a) the angular
velocity oI each planetary gear, (b) the angular velocity oI the spider
connecting the planetary gears.
SOLUTION
Let a be the radius oI the central gear A, and let b be the radius oI the
planetary gearsB, C, andD. The radius oI the outer gear Eis a + 2b.
Label the contact point betweengearsA and B as 1, the center oI gear B
as 2, and the contact point betweengearsBand Eas 3.
=
= (a +
= +
= (a +
From and + = (a +
From(1) and - = =
|(a + +
Solving Ior and
2
|(a + -
=
|(a +
From = =
a b 2(a + b)
Data:
-
=
=1 -
= - = 105
= rpm
= + = 127.5rpm
PROBLEM15.48
In the planetary gear system shown, the radius oI the central gear A is a,
the radius oI the planetary gears is b, and the radius oI the outer gear Eis
a + 2b. The angular velocity oI gear A is clockwise, and the outer
gear is stationary. II the angular velocity oI the spider BCD is to be 15
clockwise, determine (a) the required value oI the ratio bla, (b) the
corresponding angular velocity oI each planetary gear.
SOLUTION
Let a be the radius oI the central gear A, and let b be the radius oI the
planetary gears B, C, and D. The radius oI the outer gear E is a + 2b.
Label the contact point between gears A and B as 1, the center oI gear B
as 2, and the contact point between gears B and E as 3.
Gear A: =
Spider: = ( a +
Gear B: =
Gear E: = ( a +
From (4) and + = ( a +
From (1) and - = =
|(a + +
Solving Ior and
=
2
|(a + -
2b
|(a + +
From = =
a b 2(a + b)
1
Data: = 0, =
+ +
= =
+
- =
PROBLEM15.49
The outer gear rotates with an angular velocity oI 5 clockwise.
Knowing that the inner gear A is stationary, determine (a) the angular
velocity oI the intermediate gear B, (h) the angular velocity oI the arm
AB.
SOLUTION
Label the contact point between gears A and B as I, the center oI gear B
as 2, and the contact point between gears B and as 3.
Gear
Arm AB: =
Gear B: = -
Gear
Data:
From ),
From = = 37.5
From - = 0
From + = 37.5
Solving(6) and (7) simultaneously,
37.5
- 8.33 = 8.33
4.5
12.5
= = 2.78 = 2.78
4.5
in.
PROBLEM15.50
The intermediate gear B rotates with an angular velocity oI 20 rads
clockwise. Knowing that the outer gear Cis stationary, determine (a) the
angular velocity oI the inner gear A, (b) the angular velocity oI the
AB.
Gear C:
Data:
From
From
From
From
From
SOLUTION
Label the contact point between gearsA and B as the center oI
gear Bas 2, and the contact point between gears B and Cas 3.
Gear
Gear -
I
=
= 20 =
= 0.
= = - = 60
= -60 - = = 90
= = -30
= 30.0
60
= = -13.33
4.5
= 13.33
I
PROBLEM15.51
Arm rotates about point with an angular velocity oI
counterclockwise. Two Iriction disks and are pinned at their centers
to as shown. Knowing that the disks roll without slipping at
surIaces oI contact, determine the angular velocity oI disk
disk
SOLUTION
Fixed axis rotation.
Disk Plane motion = Translationwith + Rotationabout
= = rads
DiskA: Plane motion = Translation with + Rotationabout

+
-- =
,= rads
PROBLEM15.52
Arm rotates about point with an angular velocity oI 40
counterclockwise. Two Iriction disks and are pinned at their centers
to as shown. Knowing that the disks roll without slipping at
surIaces oI contact, the angular velocity oI disk
disk
SOLUTION
Fixed axis rotation.
v,
36 1440
Disk Plane motion = Translation with + Rotation about
= = -
1440
- 120
12
= + = 2880
Disk Plane motion = Translation with + Rotation about
= 30 = -
2880 +
+
30
=
120.0 4
PROBLEM15.53
Gear rotates with an angular velocity of 120 clockwise. Knowing
that the angular velocity of is 90 rpm clockwise, determine the
corresponding angular velocity of gear
SOLUTION
= =
Gear = =
A .
= = =
Gear
+
=
=
9
=
PROBLEM15.54
Arm rotates withan angular velocity oI 42 rpmclockwise. Determine
the required angular velocity oI gear A Ior which the angular velocity
oI gear is 20 rpm counterclockwise, (b) the motion oI gear B is a
curvilinear translation.
SOLUTION
= 42 rpm =
= = =
Gear :
2
= 20 rpm =-a
3

= +
=
Gear
=-
6
= 135.0 rpm
(b) Gear :
= =
Gear
6
= 105.0 rpm
70mm
PROBLEM15.55
Knowing that the disk has a constant angular velocity of 15
clockwise, determine the angular velocity of bar and the velocity of
collar when (a) = (b) 9 = (c) = 180".
Bar
Bar
SOLUTION
Disk = 15 = 70
Rotationabout a f i e daxis.
= ( = = 1.05
(a) 9 = = 1.05
250' = 16.260'
4
1.05
= = 1.09375
cos
1.09375
= 4.38
0.250
0.306 4
= 1.05
140
sin = = 34.06"
250
= +
O
+
1.050
Components:
(c) = = 1.05
70
250
Bar
+
1.05
= = 1.09375
cos
1.09375
-
DB 0.25
= 4.38
= tan = 0.306
PROBLEM 15.56
The disk has a constant angular velocity oI 20 clockwise.
Determine the two values oI the angle Ior which the velocity oI
collar D is zero. For each oI these values oI determine the
corresponding value oI the angular velocity oI bar BD.
SOLUTION
= 70 mm, I,, = 250 mm
From
v, is tangent to the circular pathoI B,
For rod BD
For matching direction = or =1 +
70
= = 22.9'
250 70
For 8 = + sin = -sin
sin = - sin
sin =
70
= 12.6' = 192.6'
250 70
For matching magnitudes = v,
250
For = = 5.60
For = =
PROBLEM15.57
In the engine system shown, 1 = 8 in. and b = 3 in. Knowing that the
crank ABrotates with a constant angular velocity oI clockwise,
determine the velocity oI piston P and the angular velocity oI the
connecting rod when (a) = (b) =
SOLUTION
= 1000 rpm =
( 1000)
= 104.72
60
(a) = Crank AB. (Rotation about A) = 3
14.16
Rod BD. (Plane motion = TranslationwithB + Rotation about B)
14.16
314.16
= 39.3
I 8
(b) = Crank AB. (Rotation about A) = 3 in.-
=
314.16
Rod BD. (Plane motion = Translationwith B+ Rotation about B.)
I '
0
= = 314.16
I
= 26.2
PROBLEM15.58
In the engine system shown in Fig. P15.57 and 1 = 8 in. and
b = 3 in. Knowing that the crank rotates with a constant angular
velocity oI clockwise, the velocity oI piston and
the angular velocity oI the connecting rod when =
SOLUTION
= =
000)
=104.72
60
= Crank (Rotationabout = 3 in.
= = = 314.16
(Plane motion = Translation with + Rotationabout
r 3
sin =-sin =-sin 60"
I 8
=
= +
= 14.16 + Drawvelocity vector diagram.
= -30" - - = 78.95"
Law oI sines.
sin sin sin -
sin 314.16 sin78.95"
= 326
cos cos18.95"
=
= 27.2
sin30" 3
=
=166.08
cos1
166.08
--
= - = 20.8
I 8
PROBLEM15.59
In the eccentricity shown, a disk oI 40-mm-radius revolves about shaIt
that is located 10 the center A oI the disk. The distance between
the center A oI the disk and the pin at B is 160 mm. Knowing that the
angular velocity oI the disk is 900 clockwise, determinethe velocity
oI the block when 8 = 30".
SOLUTION
=
sin =
10
, =
AB 160
- (Rotation about 0), = 900 rpm =
= = =
AB. (Plane motion = Translation with A +Rotation about A.)
+ +
Draw velocityvector diagram.
- 31.79"
Law oI sines.
sing, sin -
sing, 31.79"
sin - sin88.21"
= 497
I
PROBLEM15.60
Determine the velocityoI the block oI hob. 15.59 when 8 =
-8) =
sin =
- 10sin
A
160
- (Rotation about = 900 = ,
= (OA) = (1 =
AB. (Plane motion = Translation with A +Rotation about A.)
A
= v, +
|v, +
Draw velocity vector diagram. + = 93.1
- -
sines.
sin sin +
v, =
sin + sin93.10"
= 791
v, = 791
PROBLEM15.61
A straight rack rests on a gear oI radius r and is attached to a block as
shown. Denoting by the clockwise angular velocityoI gear D and by
8 the angle Iormed by the rack and the horizontal, derive expressions Ior
the velocityoI block and the angular velocity oI the rack in terms oI
---
and
SOLUTION
Gear D: Rotation about D. Tooth Eis in contact with rack
v, =
r
Rack
tan
Plane motion=Translation with E+ Rotation about E.
4
cos8
=
tan8
=
rltan8
=
PROBLEM15.62
A straight rack rests on a gear oI radius = 3 in. and is attached to a
block Bas shown. Knowingthat at the instant shown the angular velocity
oI gear D is 15 rpm counterclockwise and = determine the
velocity oI blockB, the angular velocity oI the rack.
SOLUTION
Gear D: Rotation about D. Tooth Eis in contact with rack
= 1.5708
60
= = = 4.7124

- 8.2424in.
Plane motion = Translation with E+ Rotation about E.

4.7124
= = 5.02
cos cos
= 5.02
124
= 1.71517
1.71517
8.2424
0.208
PROBLEM15.63
Bar ABis rotating clockwise and, at the instant shown, the magnitude oI
,
the velocity oI point is 3.6 Determine the angular velocity oI each
oI the three bars at that instant.
SOLUTION
AB. (Rotation about A) = =
DE. (Rotation about = = 0.1
Plane motion =Translation with +Rotation about B.
v, +
Draw vector diagram.
3.6
= 42.4 ,4
0.12sin 0.12sin
= 30.0 4
5.0912
PROBLEM15.64
In the position shown, bar has an angular velocity oI 4
clockwise. Determine the angular velocity oI bars and DE.
Rotation about
= x = x =
Rotation about E
= x = x - 5j) = -
Translationwith +Rotation about
= x = x =
- = +
Components:
i: 6.67
j: =
2.50
0.2
PROBLEM15.65
In the position shown, bar has an angular velocity oI 4
clockwise. Determine the angular velocity oI bars and
SOLUTION
Rotation about
In units oI
Rotation about
i
Translationwith +Rotationabout
Components:
=
PROBLEM15.66
In the position shown, bar has an angular velocity oI 4 radls
the angular velocity oI bars and
Rotation about A.
= x (-4k) x (-16i -32j) = +(64
Rotation about
= x = x (16i - = i +
Translation with B+Rotationabout
= x = x =
+ = + +
Components:
i: = -128, = -6.4 =
j:
16 64
--= -3.2 - 2 = -5.2 = 5.20
32 32
PROBLEM15.67
At the instant shown, bar has a constant angular velocity of 25
counterclockwise. Determine at that instant the angular velocity of the
rectangular plate the velocity of point
SOLUTION
Rotation about = 25
Rotation about E.
Translationwith B + Rotationabout
Draw velocity vectordiagram.

PROBLEM15.68
At the instant shown, bar has a constant angular velocity oI 35 rads
clockwise. Determine at that instant the angular velocity oI the
rectangular plate (b) the point on the plate with zero
velocity.
Rotationabout = 35 ,
Rotation about
Translation with D+ Rotationabout D.
sin30" sin30"
= = = 35
= 35.0 4
Point oI zero velocity lies above point D.
--- 0.2m
35
200 above point 4
PROBLEM15.69
The 4-in.-radius wheel shown rolls to the leIt with a velocity oI 45
Knowing that the distance AD is 2.5 in., determine the velocity oI the
collar and the angular velocity oI rod ABwhen = =
SOLUTION
AD. = 45 -
CD 4
CA = (CD) -(DA) = 4 - 2.5 = in.
C
= = =16.875 -
AB.
v, =16.88
C = 0 = 0 4
(b) = Wheel AD. = = 1.25
DC
CA = = 4.7170 in.
cosy
AB.
=
sing, = = 18.663'
12.5
I
Plane motion=Translationwith A+Rotation about A.
Drawvelocity vectordiagram.
- 32.005' -18.663' 39.332'
Lawof sines.
siny
sin6 39.332"
+ sin108.663'
siny
+
PROBLEM 15.70
An automobile to the right at a constant speed oI 80 II the
diameter oI the wheel is 560 mm, the velocities oI points B,
D, and Eon the rimoI the wheel.
SOLUTION
v, = 80 = 22.222
d = 560 = -= 280 mm = 0.28 m

2
22.222
= = = 79.364
0.28
= = 22.222
= = +
= 44.4
v, + = +
= 42.9
+ = +
=
PROBLEM15.71
I
A 5-m beam AE is being lowered by means oI two overhead cranes. At
the instant shown it is known that the velocity oI point D is 1
downward and the velocity oI point E is 1.5 downward. Determine
the instantaneous center oI rotation oI the beam, the velocity oI
SOLUTION
1.5-1.0 1
= -
1.5 3
1
= 1.5 + 2 - 3= 0.5 m lies 0.500 mto the right oI A
= = (0.5) =
PROBLEM15.72
A 5-m beam AE is being lowered by means oI two overhead cranes. At
the instant shown it is known that the velocity oI point A is 542
downward and the velocity oI point E is 292 upward. Determine
(a) the instantaneous center oI rotation oI the beam, (b) the velocity oI
point D.
SOLUTION
= 41.8
lies 3.25 mto the right oI A.
= - = 3.5 - 3.2494 = 0.2506 m
= = = 0.0418
PROBLEM15.73
At the instant shown duringdeceleration, the velocity oI an automobile is
40 to the right. Knowing that the velocity oI the contact point A oI the
wheel with the ground is 5 to the right, determine (a) the
instantaneous center oI rotation oI the wheel, (h) the velocity oI point B,
(c) the velocity oI point D.
\-
SOLUTION
40 - 5
- 35
A 1
5 1
35 7
= 1.714 in.
C lies 1.7 in. belowA.
A
7 7
C
15
= = 35 = 75
7
75.0
1 8
7 7
= 1.5186
= = 53.2
7
= 53.2
PROBLEM15.74
At the instant shown duringacceleration, the velocity oI an automobile is
40 to the right. Knowingthat the velocity oI the contact point A oI the
wheel with the ground is 5 to the leIt, determinethe instantaneous
center oI rotationoI the wheel, the velocity oI point B, the velocity
SOLUTION
45
5
w 45 9
= 1.333 in.
Clies 0.1333 in. aboveA. 4
A
8 17
9 9
17
= 85
9
= 85.0
8
9
=
(1.5 = 60.2
9
= 60.2
PROBLEM15.75
A 60-mm-radius drum is rigidly attached to a 100-mm-radius as
shown. One oI the rolls without slidingon the surIace shown, and
a cord is wound around the other drum. Knowing that end EoI the cord is
pulled to the leIt with a velocity oI 120 determine the angular
velocity oI the drums, the velocity oI the center oI the drums, (c) the
length oI cord wound or unwound per second.
SOLUTION
Since the drumrolls without sliding, its instantaneous center lies at D.
= = 120
=
120
= 3
60
= 3.00
/'/
= = 300
=
Since is greater than , is being wound.
Cord wound per second=180.0 mm 4
PROBLEM15.76
A drum is rigidly attached to a 100-mm-radius drum as
shown. One oI the rolls without sliding on the surIace shown, and
a cord is wound around the other drum. Knowing that end EoI the cord is
pulled to the with a velocity oI 120 determine the angular
velocity oI the the velocity oI the center oI the drums, (c) the
lengthoI cord wound or unwound per second.
SOLUTION
Since the rolls without sliding, its instantaneous center lie at B.
120
= 3
100-60
F
= 3.00
= =180
= 4
Since is to the right and is tothe leIt, cord is beingunwound.
- = 180 +120 = 300
Cord unwound per second = 300
PROBLEM15.77
I
A double pulley is attached to a slider block by a pin at A. The
.
radius inner pulley is rigidly attached to the 3-in.-radius outer pulley.
Knowing that each oI the two cords is pulled at a constant speed as
shown, determinethe instantaneous center oI rotation oI the double
pulley, the velocity oI the slider block, (c) the number oI inches oI
cord wrapped or unwrapped on each pulley per second.
SOLUTION
CA = 3.0 - 2.5 = 0.5 in.
I
lies 0.500 in. to the right oI A.
(b) = = = 2
=
v, =
Cord DEis unwrapped at 12.00 4
CordBFis unwrapped at 6.00 4
PROBLEM15.78
Solve Prob. 15.77, assuming that cord E is pulled upward at a speed oI
8 and cordFis pulled downward at a speed oI 10
SOLUTION
= = 10
8 +10
BD 4.5
8
4
C lies 1.000 in. to the right oI A.
= 4.00
- =
CordDE is unwrapped at 12.00
- =
CordBFis unwrappedat 6.00
PROBLEM15.79
A
Knowing that at the instant shown the angular velocity oI bar is
counterclockwise, determine the angular velocity oI bar
(h) the angular velocity oI bar BC, (c) the velocity oI the midpoint oI bar
SOLUTION
(rotation about
(rotation about
Locate the instantaneous center (point oI bar by noting that velocity directions at two points are known.
Extend lines and to intersect at For the given conIiguration, point coincides with
Locate point the midpoint oI bar
Triangle is an equilateral triangle. =
= = =
PROBLEM15.80
Knowing that at the instant shown bar AB is rotating counterclockwise
and that the magnitude oI the velocity oI the midpoint oI bar is
2.6 determine (a) the angular velocity oI bar AB, (b) the angular
velocity oI bar BC, the angular velocity oI bar
SOLUTION
A
Bar AB. (rotation about A)
Bar CD. (rotation about D)
=
Bar BC. Locate its instantaneous center (point I)by noting that velocity directionsat two points are known.
Extend lines ABand to intersect at I. For the given conIiguration,point Icoincides with D.
Locate point M, the midpoint oI bar BC. Fromgeometry, triangle ICMis an equilateral triangle.
IM = AB = CD = 0.25 m, IB = m
2.6
10.4 radls
IM 0.25
= = = 4.5033
4.5033
= = 18.0133 = 18.0 4
AB 0.25
10.40
= = = 2.6
10.4 10.40
0.25
PROBLEM15.81
Knowing that at the instant shown the velocity oI collar is 45 to
the leIt, determine (a) the angular velocity oI rod (b) the velocity oI
point
SOLUTION
(Rectilinear motion) = 45
(Rotation about
Locate the instantaneous center C) oI bar by noting that
velocity directions at points and are known. Draw perpendicular
to and perpendicular to
45
= 6.00
7.5 in.
4
=
7.5
= 3 in.
3
28.2"
5.6
= 6.353 in.
PROBLEM15.82
Knowing that at the instant shown the angular velocity oI rod DE is
2.4 clockwise, determine (a) the velocity oI collar A, (b) the velocity
oI point B.
SOLUTION
RodDE. (Rotationabout = 2.4
= = = 14.4
Collar A. (Rectilinear motion)
Locate the instantaneous center (point oI bar ADBby noting that
velocity directions at points A andD are known. Draw ACperpendicular
to andDCperpendicularto
14.4
= 3.6
27
= 27.0
4
=
7.5
BF = =
= 3 in.
3
BF 5.6
= 6.353 in.
= 22.9
= 61.8"
= 22.9
PROBLEM15.83
An overhead door is guided by wheels at and that roll in horizontal
-- and vertical tracks. Knowing that when 8 = the velocity oI wheel
is 0.6 upward, determine (a) the angular velocity oI the door, the
velocityoI end DoI the door.
SOLUTION
e = =
Locate the instantaneous center (point by noting that velocity directions
at points and are known. Draw perpendicularto and
perpendicular to
= = = 1.28557m
0.46672
1.28557
0.467
= m + m
= 2.9930 m
= 30.79"
= 1.397
= 1.397
- 59.2'
= 1.397
PROBLEM15.84
Rod is guided by wheels at and that roll in horizontal and
, vertical tracks. Knowing that at the instant shown = 60" and the
, velocity oI wheel is 800 downward, determine the angular
velocity oI the rod, the velocity oI point
SOLUTION
D
= 800 = v,
Locate the instantaneous center oI rod by notingthat velocity directions at points and are known.
Draw perpendicular to and perpendicular to .
800
= 3.0792
= 3.08
= + = 540.83
tany =
y 909- y 73.9"
600cos30"
1.665
= 1.665
PROBLEM15.85
I
Small wheels have been attached to the ends oI bar and roll Ireely
along the surIaces shown. Knowing that the velocity oI wheel is
2.5 to the right at the instant shown, determine(a) the velocityoI end
oI the bar, (b) the angular velocity oI the bar, (c) the velocity oI the
midpoint oI the bar.
SOLUTION
2.5
Locate the instantaneous center (point oI rod by noting velocity
directions at points and are known. Draw perpendicular to and
perpendicular to
Let = = 600 = 0.6 m
Law oI sines Ior triangle
b
--
a
0.84853
a = 0.73485 m, b = 0.81962 m
2.5
= 3.0502
b 0.81962
= = = 2.24
= 2.24
= 3.05
(c)
Let Mbe the midpoint oI
Law oI cosines Ior triangle
2
m
2
= b
2
2
= + - (0.3) cos
m = 0.71825 m
Law oI sines.
,
sin =
2
m 0.71825
= = = 2.19
= 2.19
PROBLEM15.86
At the instant shown, the angular velocity oI bar DE is 8
counterclockwise. Determine (a) the angular velocity oI bar BD, (b) the
angular velocityoI bar AB, (c) the velocity oI the midpoint oI bar BD.
SOLUTION
Bar DE. = = =
C
=
Bar AB. = =
=
Locate the instantaneous center (point oI bar BDby noting that velocity
directions at points B and Dare known. Draw BCperpendicular to
and DCperpendicular to
= = m.
LawoI sines Ior triangle CBD.
b
m
sin sin sin sin
b = m, =
A
4.8
- =
E

=-= = =
a
(c) LawoI cosines Ior triangle
= + -
=
PROBLEM15.86CONTINUED
Law of sines.
sin sin (0.3)sin
, = , = 19.1"
2
0.79375
= = = 6.35
= 6.35
PROBLEM15.87
5 in.
Arm is connected by pins to a collar at and to Knowing
that the velocity oI collar B is 16 upward, determine (a) the angular
velocity oI arm(h) the velocity oI point A.
in.
SOLUTION
5
12
Locate the instantaneous center (point oI bar ABDby noting that velocity directions at points and are
known. perpendicular to and perpendicularto .
= = (6.4) = 2.6667 in.,
= - = 12.8 - 2.6667 = 10.1333 in.
16
= = = 1.57895 = 1.579
10.1333
= + = 10.1333 + 7.2 = 17.3333 in.
3.6
- -
17.3333
= 17.7032 in.
= = 28.0 v, = 28.0
5 in.
PROBLEM15.88
Arm is connected by pins to a collar at and to crank Knowing
that the angular velocity oI crank is counterclockwise,
determine the angular velocity oI (b) the velocity oI
point A.
in.
I
SOLUTION

y = = = = in.
cosy cosy
= = = = y
=
Locate the instantaneous center (point oI bar by noting that velocity directions at points and are
known. Draw perpendicularto and perpendicularto .

= y = - = in., = = = in.
cosy cosy
=-= = =

= - = - = in.

-

= = in.
= = = =
PROBLEM15.89
The pin at B is attached to member ABD and can slide Ireely along the
slot cut in the Iixed plate. Knowing that at the instant shown the angular
velocity oI DE is 3 clockwise, determine (a) the angular
velocity oI member ABD, (b) the velocity oI point A.
SOLUTION
C
E
= 3 ,
= = (1
= 480
is perpendicular to DE.
=
Locate the instantaneouscenter (point oI bar ABDby noting that velocity directionsat points Band D are
known. Draw BCperpendicular to and DCperpendicularto
BD =120 DK = =
= 49.4953 =180' - - =100.505' = -
ED 160
Lawof sines for triangle

sin sin sin
=
sin sin
=
sin sin
=
sin sing,
=
sin sin
Lawof cosines for triangle ( = + -
= + - =
siny
Lawof sines.

-

= rads
=
=
PROBLEM15.90
Two identical rods and connected by a pin at Knowing
that at the instant shown the velocity oI point is upward,
determine the velocityoIpoint point
SOLUTION
F
C
Locate the instantaneous center (point oI bar by noting that the velocity directions at points and
are known. Draw perpendicular to and perpendicularto
LawoI sines Ior triangle

--=-
sin sin sin

sin
--

= = =
Lawof cosines for triangle DCE. = + - 2(CD)( DE)
co sp = =
CE 96.889
PROBLEM15.91
Two rods and are connected to three collars as shown. Knowing
in.
that collar A moves downward with a velocity oI 6 determine at the
instant shown (a) the angular velocity oI each rod, the velocity oI
collar
kc---
SOLUTION
= i nk =
Locate the instantaneous center (point oI rod by noting that velocity directions at points and are
known. Draw perpendicular to and perpendicular to .
Triangle LawoI sines.

-=-=-
sin sin sin
10sin
= 5.7735 in.
sin
- 1.03923
AC 5.7735
= 1.039
= = = 6
= v,, -
Locate the instantaneouscenter (point ofrod by noting velocity directions at pointsBand
known. Draw perpendicular and to .
Triangle Lawof sines.
BI =
sin
PROBLEM15.92
At the instant shown, the velocity oI collar A is 1.4 to the right and
the velocity oI collar B is 3.6 to the leIt. Determine (a) the angular
velocity oI bar AD, (b) the angular velocity oI bar BD, (c) the velocity oI
point D.
SOLUTION
Method1
Assume has the direction indicated by the angle as shown. Draw
CDI perpendicular to Then, point C is the instantaneous center oI
rod ADand point I is the instantaneous center oI rod BD.
b
AD = = 18 in.
10.8 7.2
18 9
C 18 18 d 9 9
--
sin sin + cos sin sin - cos
cos cos
Kinematics. = 1.4 = 16.8 = 3.6 = 43.2
- -
a c b d
a b
16.8
0.583336
43.2
14.4 -10.8tan = + 7.2tan
1.25 15tan tan 10.75, =
a = 14.4 - = 6.3 in.
I
= 5.4 + = 10.8 in.
cos cos
16.8
- = 2.6667 rads
(a) =--
= 2.67
6.3
= 4.00
Method 2
Consider the motion using a Irame oI reIerence that is translating with
collar A. For motion relativeto this
= 1.4 = 16.8
= 3.6 = 43.2
60
=
=
14.4
Locate the instanteous center (point Ior the relative motion oI bar BD
by noting that the relative velocity directions at points B and D are
known. Draw BC perpendicular to and DCperpendicularto
7 2
-
BC = +5.4 = 15 in.
60
-= 4
15
48
= 2.67
= 4.00
PROBLEM15.93
Two rods and connected - shown. Knowing that point
moves to the with a velocity oI determine at the instant
shown (a) the angular velocity oI each rod, (b) the velocity oI point A.
I I
SOLUTION
I
Locate the instantaneous center (point oI rod Draw
perpendicular to and perpendicular to
=

= ,
D
is perpendicular to =
Locate the instantaneous center (point I)oI rod Draw
perpendicular to and perpendicular to
= = = radls,
=
PROBLEM15.94
Two rods and connected as shown. Knowing that point
moves downward with a velocity oI 1.2 at the instant
shown the angular velocity oI each rod, the velocityoI point E.
--
-I
mt n
A
SOLUTION
Point is the instantaneous center oI bar
= 600 mm
tan = =
300'
Point is the instantaneous center oI bar
DF 120
= 5.00
PROBLEM15.95
Two 20-in. rods AB and DE are connected as shown. Point D is the
midpoint oI rod AB, and at the instant shown rod DE is horizontal.
Knowing that the velocity oI point A is 1 downward, determine
(a)the angular velocity oI rod DE, the velocity oI point E.
SOLUTION
v, 12
= v'q
Point is the instantaneous center oI barAB.
12
AC
= 0.69282
CD = in.
= = = 6.9282
= 6.9282
=
Point Iis the instantaneous center oI barDE.
DI =
= 0.400 rads
DI
= = = 4 = 0.333
PROBLEM15.96
At the instant shown, the angular velocity oI bar AB is 4.5
counterclockwise and the velocity oI collar E is 28 to the right.
Determine (a) the angular velocity oI bar BD, (b) the angular velocity oI
bar DE, (c) the velocity oI point D.
SOLUTION
=
= = 36
Let point Cbe the instantaneouscenter oI bar BD. DeIine angle and
lengthsa and as shown.
36
- -
b b '
b
= 28
Let point I be the instantaneous center oI bar lengths c and d
as shown.
-
bc
- d)
(8 28
bc
10 6 a 10
, b = d =
cos c 6
6 = 28 or =
0.75 = = 0.8
64
10
- 12.5 in., b = 7.5 in., c = 7.5 in., d = 4.5 in.
0.8
36
=-= 4.8 = 4.80
7.5
=8 , 8.00 ,
= = 60 = 5.00 53.1"
PROBLEM15.97
Describe the space and the body oI rod ABD oI
Prob. 15.84. The body does not have to lie on a physical
portionoI the rod.)
SOLUTION
F
Drawx andy axes as shown with originat the intersection oI the two
c
slots. These axes are Iixed in space.
Locate the space (point C) by noting that velocity directions at
pointsAand Bare known. DrawACperpendicular to and
perpendicularto v,.
The coordinates oI point C are = sin and = lcos
+ = =
The - is a quarter circle oI 300 mmradius centered at 4
Redraw the Iigure, but use axes x and y that move with the body. Place
origin at A.
Y =
,
= +
2
=
A
= cos = -sin
2
2 2
2
= = -150) =
The is a semi circle oI 150 radius centered
midway betweenAand B. 4
PROBLEM15.98
Describe the space and the body oI the gear oI Sample
Prob. 15.2 as the gear rolls on the stationary horizontal track.
SOLUTION

Let points B, and move to B', and as shown.
Since the instantaneous center always lies on the Iixed lower rack, the space is the lower rack.
space centroae. lower rack
Since the point oI contact oI the gear with the lower rack is always a point on the circumIerence oI the gear,
the body is the circumIerence oI the gear.
boay centroae. circumIerence oI gear 4
PROBLEM15.99
Using the method oI 15.7, solve 15.59.
SOLUTION
= 900 rpm =
Locate the instantaneous center (point CoI bar BD by noting that
.
velocity directionsat point Band A are known. Draw BCperpendicularto
. . and ACperpendicular to
c 10sin30,
sin =
AB 160
OB = + + I
=168.582 mm
OB 168.582
AC = - OA = - = 184.662
cos
BC = (OB) tan = 97.377 mm
"A "B
AC BC
= = = 497
184.662
PROBLEM15.100
Using the method of 15.7, solve Prob. 15.70.
SOLUTION
= 80 = 22.222
a = 560 mm, r = = 0.280 mm = 0.28 m
2
Point C is the instantaneous center.
= 79.364
r 0.28
CB = 2r = 0.56 m
= = = 44.4
C
v , = 44.4 -
1
2
CD = 2rcos = = 0.54092 m
= = = 42.9
= 42.9 15.0
CE = = = 0.39598 m
= (CE) = = 31.4
= 31.4 45.0
PROBLEM15.101
Using the method oI 15.7, solve Prob. 15.65.
SOLUTION
Locate the instantaneous center (point C), notingthat velocity directions
at points Band are known. Draw perpendicular to and
perpendicular to
4
CB 10 in., =10.7703 in.
cosp
40
= - = 4
10
= 4.00
6
6.4622 in.
cos
43.081
= 6.67 =
6.4622
PROBLEM15.102
I
D
SOLUTION
BK 16
A
AK
- 63.435"
35.777
cos
16
20
- = 51.34"
DE - 25.613 in.
cosy
-- = 4 rads
= = = 143.108
Locate the instantaneous center by noting that velocity
directions at points B and D are known. Draw BC perpendicular to
andDCperpendicular to
Law oI sines Ior triangle
CB CD BD
CB =
sin sin
-
-
= 5.2 = 5.20 rads
CB 27.521
163.92
163.92
- 6.64 = 6.40 rads
DE 25.613
PROBLEM15.103
Collars Band D are pin-connected to bar ABD and can slide along Iixed
rods. At the instant shown the angular velocity oI bar ABDis zeroand the
acceleration oI point D is 24 the right. Determine (a) the angular
acceleration oI the bar, (b) the acceleration oI point B, (c) the acceleration
SOLUTION
= = a,,
a, = a, = -
+ +
|a, =|24 - + +
Components.
: a, = 24 - +
+ : a, sin = (1.5sin a, =
Substituting into = 24-
a = = 16 = 16.00
3cos
- = 24 a, = 24.0 4
+ +
=|24 - + +
=|24 - +|48 + a, = 41.6 It/s
2
PROBLEM 15.104
Collars B and D are pin-connectedto bar ABD and can slide along Iixed
rods. At the instant shown the angular velocity oI bar ABD is zero and its
angular acceleration is 12 rad/s
2
clockwise. Determine (a) the
acceleration oI point D, (b) the acceleration oI point B, (c) the
acceleration oI point A.
SOLUTION
2
= = = 12
Collar Bslides along a straight rod.
(a,) = a,
Collar D slides along a straight rod.
= a,
+ +
= + +
Components.
60" = + + 0
a, = c0s60- = = -18
a, =18.00
a, = 18.00
= |18 - + +
= |18 +|36 + a, = 31.2
PROBLEM15.105
A 5-m steel beam is lowered by means oI two cables unwinding at the
same speed overhead cranes. As the beam approaches the ground,
B the crane operators apply brakes to the unwinding motion. At the
instant considered the deceleration oI the cable attached at Bis 2.5
while that oI the cable attached at D is 1.5 Determine (a) the
angular acceleration oI the beam, the acceleration oI points A and E.
SOLUTION
1.5 = + +
1.5 = = 0.500
+ +
= + +|0
= 3.25
+ +
= +|(2 + +|0
= 0.75
= 0.750
PROBLEM15.106
I 1
For a 5-msteel beamAEthe acceleration oI point A is 2 downward
A
and the angular acceleration oI the beam is 1.2 counterclockwise.
-- , Knowing that at the instant considered the angularvelocity oI the beamis
I I zero, determine the acceleration oI cable (b) oI cable D.
SOLUTION
1.5 m , = 3.5 m-
= + + 0
A
= 1 I + + -
= 0.2
a, =
= + +
= 1 I + 1 I +
= 2.2
a, = 4
PROBLEM15.107
Bar BDE is attached to two links AB and CD. Knowing that at the instant
shown link AB rotates with a constant angular velocity of 3 rads
clockwise, determine the acceleration( a )of point (h)of point E.
7.5
in.
SOLUTION
Jelocity analysis.
= = = 36
v , =
[36
Components:
Acceleration analysis.
= + = + = in./s
2
= + = + = +
= + +
= - = -
= = =
= + +
[0{
Components:
2
144 = 108 + = 4.8
= + = 144 a, = 12.00 4
= = (4.8) = 36
= +36 + = a, = 15.00
PROBLEM15.108
Bar BDE is attachedto two linksAB andCD. Knowingthat at the instant
shown link - with constant angular velocity of 3
clockwise, determine theacceleration(a)of point D, (b)of point E.
SOLUTION
analysis.
[36
Components: + = 0 = 0
analysis.
= +
+ = + in./s
2
+ +
= t = t =
=
+ +
+ = + + [0{
Components:
= + =144 = 12.00
= = = 252
= = =
= + +
= = 396
PROBLEM15.109
At the instant shown the angular velocity oI the wheel is 2
clockwise and its angular acceleration is 3 counterclockwise.
Knowing that the wheel rolls without slipping, determine the location oI
the point on the wheel with zero acceleration at this instant.
SOLUTION
Let point be the contact point.
= + = + =
Point moves parallel to x-axis.
+ +
From x-component, a, -ha,
Acceleration oI the point with coordinates ( x,
a
= [ha + [ xa + - + [xw
2
- +
Set a = and resolve into components.
( h + + =
vw
4
a a
h
y --
l a
,
+ +
\
Data: h = 300 mm, = 2 a = 3
4 w
4
16 w
4
25
a a 9 a - 9
v = --(300)= x = y =
25
PROBLEM15.110
The motion oI the 3-in.-radius cylinder is controlled by the cord shown.
Knowing that end E oI the cord has a velocity oI 12 and an
acceleration oI 19.2 in./s

2
, both directed upward, determine the
acceleration(a) oI point A, (b) oI point B.
SOLUTION
Velocity Point A isthe instantaneous center oI rotation oI the cylinder. = =
12
Acceleration analysis. =
+ +
2
(1), Components + : 19.2 = 6a, a = 3.2
+
+
= + =
= + +|12
From which 9.6 and = i nk
2
= 9.6
a, = 12.00 in./s
2
4
+ +
= + | ra + = + +|12
= + a, = 9.90 in./s
2
PROBLEM15.111
The motion oI the 3-in.-radius cylinder is controlled by the cord shown.
Knowing that end E oI the cord has a velocity oI 12 and an
acceleration oI 19.2 both directed upward, determine the
accelerationsoI points Cand DoI the cylinder.
SOLUTION
Velocityanalysis. Point Ais the instantaneous centeroI rotation oI the cylinder. = = 12
2r o o =
12
= =
Acceleration = =12
=
I +
From Components + : 19.2 = a = 3.2
+ +
= + I + -
= + + in.k
2
Fromwhich = 9.6 and a, = 12 = 9.6 in./s

2
From Components = + 24 = -12 + 24 = 12
Then a, = in./s
2
+12 in.k
2
- a, = 22.6 in./s
2
= + +
= + +12
= + = 23.6 in./s
2
4
PROBLEM15.112
A wheel rolls without slipping on a Iixed cylinder. Knowing that at the
instant shown the angular velocity oI the wheel is 10 rad/sclockwise and
its angular acceleration is 30 determine the
acceleration oI (a) point A, (b) point B, (c) point
SOLUTION
Velocity analysis. r 0. 04m
Point Cis the instantaneous center oI the wheel.
v, = rw = (0.04)(10) = 0.4 m/s
Acceleration analysis. a = 30
Point A moves on a circle oI radius = R + r = 0.16 + 0.04 = 0.2 m.
Since the wheel does not slip,
=
= +
0.4)'
+ (0.04)(30) +
=
+ |0.8 | | 4 |
Components. + -(a,), 1.2 = 0 (a,), = 1.2
+
= -0.8 + 4.0 = 3.2
(a) Acceleration A.
a, = |l.2 + a, = 1.442 m/s
2
33.7"

=
= - + + + ,
= + = 3.44 35.5"
= =
PROBLEM16.113
The 360-mm-radius flywheel is rigidly attachedto a 30-mm-radius
that can roll along parallel rails. Knowing that at the instant shown the
center of the shaft a velocity of 24 and an acceleration of
10 down to the left, determine acceleration
ofpoint of point
SOLUTION
Let point G be the center ofthe shaft and point Cbe the point of withthe
rails. Point Cisthe instantaneous center ofthe wheel and- - point
the
Since does not sliponthe rails,

10 =

= +(am), +
-
= + + +
= + a, = 267 61

= + +
PROBLEM15.114
The 6-in.-radius drum rolls without slipping on a belt that moves to the
leIt with a constant velocity oI 12 At an instant when the velocity
and acceleration oI the center D oI the drum are as shown, determine the
accelerations oI points A, B, and CoI the drum.
SOLUTION
Velocity analysis. = 30 --, =12
+ |30
42
6
Acceleration analysis. a
D
36i n. l s
2
-, a )
= + +
Components:
+ = = 294
a, = 24.5
+ +
= |36 + + - +|36 - +
= |72 - + a, = 25.2
+ +
= |36 - +|36 +
= +|36 in.h
2
a, = 21.7 4
PROBLEM15.115
A 60-mm-radius drum is rigidly attached to a 100-mrn-radius drum as
shown. oI the rolls without sliding on the surIace shown, and
a cord is wound around the other Knowing that at the instant
shown end D oI the cord has a velocity oI 160 and an acceleration
oI 600 mm/s
2
, both directed to the leIt, determine the accelerations oI
pointsA, B, and oI the drums.
SOLUTION
Velocity analysis. = v, = 160
Instantaneouscenter is at point B.
= 4
Acceleration analysis. a, = |a, Ior no slipping a = a )
a, = +|(a,),,
=
+ +
|a, = + + - 60)a + - 60)rv
2
Components : 0 = -600 + 40a a = 15
+ +
= + - +
Components : = + a, = =1500
a, a, = 1600
PROBLEM 15.1 15 CONTINUED
PROBLEM15.116
A 60-mm-radius is rigidly attached to a as
shown. oI the drums rolls without sliding on the surIace shown, and
a cord is wound around the other Knowing that at the instant
shown end DoI the cord has a velocity oI 160 and an acceleration
oI 600 both directed to the the accelerations oI
points A, B, and CoI the drums.
SOLUTION
Velocityanalysis. = 160
Instantaneous center is at point A. = (AB) w, 160 = (100- 60)
Acceleration analysis. a, = |a, Ior noslipping. a = a
a, = +|(a,),
=
= + +
= + + - + - 60)m
2
Components : = + a = 15
+ +
Components = - = 60a = 900
+ :
a, = = (60)(4)' = 960 a, = 960 4
+ +
= - + +
= + +
= +
= 1709
PROBLEM15.117
ABhas a constant angular velocity of 16 raas counterclockwise. At
the instant when = aetermine the acceleration (a) of collar D,
(b)of the miapoint G of bar BD.
SOLUTION
Geometry ana velocity analysis.
= ( = = 960
Instantaneous center of bar BD lies at C.
120
= = 0.6, = 0.8
200
= CB = = 160
960
= = = 6
CB 160
15360
Point Dmoves on a straight line. a, = a,
I +
a, = +
Resolve into components.
= -15360- - 5760 = -24360 a, = 24. 4as
2
620 160
= + = +
+ +
= - + - + - +
= 19860 a, = 19.86
PROBLEM15.118
ArmABhas a constant angular velocity oI 16 At
the instant when = determine the acceleration (a) oI collar D,
(h) oI the midpoint GoI bar BD.
mm
SOLUTION
Geometry and velocity analysis.
60
= = 0.3, = 17.458"
200
and are parallel, thus the instantaneous center lies at a.
Acceleration analysis. = 0, =16
Point D moves on a straight line. = -
+
a, = a, + +
Resolve intocomponents.
80.508
200cos
+ : = - + = = -4831mm/s
2
a, = 4.83
(a,), = +
+
= + = o
PROBLEM15.119
Collar slides Iixed rod witha constant velocity of 4
totheright. Knowingthat at the instant shown =8 in., the
angular of bar angularaccelerationof bar
For
|48 =
Components:
48 = = 4.8
-- = a, = a,, = = a,, ,
+ +
0 + + + +
+ +
+ + +
= + + +
0 = 0 + 230.4 + = -28.800
= 28.8
(b) 0 = +
a,, = 17.28
PROBLEM15.120
Collar slides on a Iixed horizontal rod with a constant velocity oI 2
to the right. Knowing that at the instant shown = determine (a) the
angular acceleration oI bar (b) the angular acceleration oI bar
SOLUTION
Geometry. DeIine angles and as shown.
D
= 16 -
= +
Squaring, adding (1) and and rearranging,
256 + x
2
- =
320 320
Let
A
=
320
Multiply (3) by cos
256 + x
2
+ y,) = cosy,
320
+
From(1) and
=
16 -
For
256
= = 0.8, = 36.87'
320
6
- 0.75, 36.87'
8
Velocityanalysis. = 2 = 24
[24 = +
Components. : 24 = 1 cos + 1 cos
o =
,
-- = = a,, = a,, J , = J
+ +
= + +
= +
+ +
+
+
+ +
+
+ + cos - = 0
f .
Solving simultaneously, a,, = 3 raa/s
2
, = -3 raa/s
2
= 3.00
a,, = 3.00
PROBLEM15.121
Collar slides on a fixed vertical rod. Knowing that the disk has a
constant angular velocity oI 15 clockwise, determine the angular
acceleration oI bar and the acceleration oI collar D when (a) 8 =0,
(b) 8 = ( c) 8 =
,
SOLUTION
- A.
= a, = AB =
= = = 1050
= = =15750
(a) 8 = 0.
-, = v,
sin = =
250
Instantaneous center oI bar lies at point C.
= 4.375 ,
= a, = =
+
= +
a, = a, +
= - +1339.83, a,, = -5.5826 rad/s
2
= 15750- - 4593.76 =10765
= 5.58 =10.77 m/s
2
(b) =
= =
140
=
250
Instantaneous center oI barBDlies at
O
D a, = 15750 a, = a,
,
= a
a, = a, +
= 76.0 = 10.65 4
(c) =
Instantaneous center oI barBD lies at point C.
a, =
=
= +
a, = a, +
PROBLEM15.122
In the planetary gear system shown the radius oI gears B, C, and Dis
60 and the radius oI the outer gear E is 180 mm. Knowing that gear
has a constant angular velocity oI 150 rpmclockwise and that the outer
gear E is stationary, determine the magnitude oI the acceleration oI the
tooth oI gear Dthat is in contact with gear gear
SOLUTION
--
= 150 rpm = radls,
= = \
Point Eis the instantaneous center Ior planetary gear D.
v
= = \
= = radls,
120
--
a, = /
=

a, = + = /+
= /+ 3757r
2
1
a, = 1851mm/s
2
/ a, =1.851 m/s
2

= a, + a, = 187.57r
2
= /+ /=
= 5552 = 5.55
PROBLEM15.123
Knowing that crank AB rotates about point A with a constant angular
velocity oI 900 clockwise, determine the acceleration oI the piston P
when =
SOLUTION
Law oI sines.
Velocity analysis.
= 900 rpm = rads
,
= +
Components = cos 60" - cos
=16.4065
Acceleration analysis. 0
= = = 17765.3
a, = a, +
a,, = 2597.0 rads
2
= - +
PROBLEM 15.124
Knowing that crank AB rotates about point A with a constant angular
velocity oI 900 clockwise, determine the accelerationoI the piston P
when =
SOLUTION
LawoI sines. , =
2 6
-- = 900 = ,
= =
,
= + B|
Components : = cos + cos
=16.4065 ,
6cos
-- =
= = =17765.3 in.h
2
+
+
= +
= + +
2597.0
+ = + 161
=11835
=
= 986
PROBLEM15.125
Knowing that at the instant shownbar AB has a constant angular velocity
of 19 rads clockwise, ( a )the angular accelerationof bar BGD,
the angular accelerationof bar DE.
SOLUTION
Jelocity analysis. 19
A
= = = 3.8
Instantaneous center of bar BDlies at
BC 0.2
= = = 9.12
DE 0.38
Acceleration analysis. a,, = 0.
= = 72.2 mls
2
+
+
= + m/s
2
a, = a, + + Resolve into components.
218.88 = + +173.28
228
= -72.2 + -72.2,
= -92 = 92.0 4
PROBLEM15.126
Knowingthat at the instant shownbar DEhas a constant angular velocity
determine (a) the accelerationof point B, (b)the
SOLUTION
Jelocity analysis. = 18 rads
, A
= 6.84
Point Cis the instantaneous center of bar BD.
6.84
=-= 14.25
CD 0.48
= 2.85
2 85
-= 14.25 ,
AB 0.2
Acceleration analysis. 0
= = =
+
= +
= +
a, = a, + +
= - +
=
= + +
=
= + m/s
2

= + - = +
PROBLEM15.127
Knowing that at the instant shown rod has a constant angular velocity
oI 6 clockwise, determine the acceleration oI point D.
SOLUTION
\
-- = 6 ,
V, = = = 27
The instantaneous center oI bar BDE lies at
Then, w,, = and = = 27
27
CD 9
-- a,, =
= 162
= + in./s
2
+ 1 - +
a, = a, +a,,
= 0 + = 3.6
a, = + +
= - +|81
a, = 87.2 in./s
2
PROBLEM15.128
Knowingthat at the instant shown rod AB has a constant angular velocity
oI 6 clockwise, determine (a) the angular acceleration oI member
BDE, (b) the acceleration oI point E.
I
Jelocity analysis. = 6 ,
= = = 27
The instantaneous center oI bar BDE lies at
B
Then, = and = = 27
A 27
- 3 ,
9
= = 162
= - + in./s
2
a, = +
= - +
a, = a, + a,,
-81 -162 7.20
=
+ + +
= - + + - + [0
= in./s
2
+ in./s
2
a, = + = + in./s
2
- +
= 64.8 in./s
2
- a, = 64.8 in./s
2
PROBLEM15.129
At the instant shown the angular velocity of bar DE is 4 clockwise
and its angular acceleration is 10 rad/s
2
counterclockwise. Determine
(a)the angular acceleration of bar BGD. the acceleration of point G.
SOLUTION
Jelocity analysis. = 4 ,
= = = 880
Instantaneouscenter of bar BDlies at point B. =
BD 220
O
AB
Acceleration 10 ,, =
+
= 1 + -I
= + -
+
= + -
a, = +
= +0
a, = a, +
PROBLEM15.130
At the instant shown rod has a constant angular velocity of
clockwise. Knowing that = in., determine the acceleration of the
midpoint of member
SOLUTION
--
= ( = =
,
Instantaneouscenter of bar lies at
=
= = 96 -
-- = =
= + = in.h
2
= +
PROBLEM15.131
Knowing that at the instant shownbar AB has a constant angular velocity
of 4 rads clockwise, determine the angular acceleration (a) of bar BD,
(b)of bar DE.
m
SOLUTION
tan = =
120
DE = = 134.164
120 cosp
Jelocity analysis. = 4
= = = 800
Point Cis the instantaneouscenter of bar BD.
BD 160
= 320
BC
CD - 357.77
cosp
800
= = 2.5
BC 320
894.425
894.425
=
= = 6.6667
DE 134.164
= 0,
= 4 rads
+
= 0 + = 3200
+
= +
= +
= +
- -
-
=
=
PROBLEM15.132
Knowingthat at the instant shownbar AB has aconstant angular velocity
of 4 clockwise, determine the angular acceleration (a) of bar BD,
(b)of bar DE.
SOLUTION
3 7.5
7.5 cos
=
= = = 50
E
Point is the instantaneouscenter of bar BD.
BD
12.5
BC
13.4629 in.
cos
-
BC 12.5
53.85 1
53.851
= = = 6.6667
DE 8.0777
= 0, = 4
=0 + =
+

+
= +
= + - -
PROBLEM15.133
Solve the problem indicated making Iull use oI the vector approach as
done in Sample Prob. 15.8.
Prob. 15.131.
SOLUTION
- -
= mm) j,
r,, = (160 mm) i
r,, = mm)i -(120 mm) j
-- = -(4 k
(-4k)
= + r,, = x - = -
= v, +
i: = -800 + 0 = -6.6667
2.5
-- a,, = = -(4
= - = o - = (3200 j
= - = - (2.5)'
x - = x - -
= - + (2666.7 +(5333.3 j
a, = a, + a,,
i: + 2666.7 = - = -30.556
j:
+ 5333.3 = + 3200 a, = 24.792
a,, = 30.6 4
PROBLEM15.134
Solve the problem indicated making Iull use oI the vector approach as
done in Sample Prob. 15.8.
Prob. 15.132.
SOLUTION
- - = (12.5 = in.) j
= + (3 in.) j
-- a,, = -(4 k
= x = =
= = x =
v, = = + 3j) = -
v, = +
j: = -50 + 0 = 6.6667
i: = 0 + = -4
-- a,, = a,, =
= x - = - =-200 i
(4)'
= +(80 j
a, = a, - = x (-7.51 + 3j) - + 3j)
= - +(333.33 - j
a, = a, +
-133.333 = + 80 =-28.444
+ 333.33 =-200 + a,, =123.733
= 123.7
28.4
PROBLEM 15.135
Denoting by the position vector oI point A oI a rigid slab that is in
plane motion, show that the position vector oI the instantaneous
center oI rotation is
where is the angular velocity oI the slab and v, is the velocity oI
point A, (b) The acceleration oI the instantaneous center oI rotation is
zero iI, and only iI,
where a = ak is the angular acceleration oI the slab.
SOLUTION
(a) At the instantaneous center C, = 0
v,, = =
a
a
Set = 0. a,, = +O X 4
PROBLEM15.136
Collar slides on a vertical rod. The disk rotates with a constant
clockwise angular velocity Using the method oI 15.9, derive an
expressionIor the velocity oI point Din terms oI 8, b, and I.
SOLUTION
Fromhorizontal distances,
= b(l + sine)
=
. b
--
I cosp
Fromvertical distances,
y = -
y = +
b
=
I cosp
= -
b
sin = +sin8)
I
cosq = 1- +sin
[
sin b(l + sine)
b(l +
Substituting into
- +
Now,
geometry,
PROBLEM15.137
Collar D slides on a Iixed vertical rod. The disk rotates with a constant
clockwise angular velocity Using the method oI 15.9, derive an
expression Ior the angular acceleration oI rod BD in terms oI b,
and I.
D
,
Fromhorizontal distances, Ising, = b +sin
I =
Set
.
cosg,
e = = constant.
I
.
1 cosg,
cos (-sin - e(-sin
I cos
2
cos
.----
cos
2
I
NOW,
From geometry,
b
sing, = I +
1
Substituting into
+
- + sine)'|
Isin I
+
PROBLEM15.138
The drive disk oI the Scotch crossheadmechanismshown has an angular
velocity and an angular acceleration both directed
counterclockwise. Using the method oI 15.9, derive expressions Ior
the velocity and acceleration oI point B.
SOLUTION
Fromgeometry, = +
=
= -
Hence, =
a, = - sin 4
PROBLEM15.139
Rod AB moves over a small wheel at C while end A moves to the right
with a constant velocity Using the method oI 15.9, derive
expressions Ior the angular velocityand angular acceleration oI the rod.
SOLUTION
b
A
A
b
e u
1u
2
A .. u
l u
2
and
b b b ' b
=
b
2
1+(
=
b
2
+
( )(
2
a =
[
a =
(b
2
Then,
PROBLEM15.140
Rod AB moves over a small wheel at while end A moves to the right
with a constant velocity Using the method of 15.9, derive
expressions for the horizontal and vertical components of the velocity of
point B.
SOLUTION
sin0 =
b
=
A
(b
2
+ (b
2
+
-
(b
2
+
A
y, = =
(b
2
+
= -
+ (b
2
+ (b
2
+
-
(b
2
+
= - - 4
+
=
(b
2
+
PROBLEM15.141
A disk oI radius rolls to the right with a constant velocity v. Denoting
by P the point oI the rim in contact with the ground at t = derive
expressions Ior the horizontal and vertical components oI the velocity oI
Pat any time t.
SOLUTION
Y
= =
= -
= -
= -
0 C = r -
v
= 0, e = -
r
vt
= e =-
r
= -
vt
= vsin-4
PROBLEM15.142
At the instant shown, rod AB rotates with a constant angular velocity
and an angular acceleration a, both clockwise. Using the method oI
15.9, derive expressions Ior the velocity and acceleration oI point C.
SOLUTION
Place the origin at the Iixed point A.
= A
Yc =
-21si n89
= 0
= -
=
= 8
= =
= si ne 4
=
= + m
2
= + 4
PROBLEM15.143
At the instant shown, rod AB rotates with a constant angular velocity
and an angular acceleration both clockwise. Using the method oI
15.9, derive expressions Ior the horizontal and vertical components
oI the velocity and acceleration oI point D.
SOLUTION
Place the origin at the Iixed point A.
D
=
= sine
= sin - 31cos
I
= I - Isin
=
= (asine + cos
= -
= - sin + cos i + (lacos - sin j 4
PROBLEM15.144
Crank AB rotates with a constant clockwise angular velocity Using
the method oI 15.9, derive expressions Ior the angular velocity oI
rod BDand the velocityoI the point on the rod coinciding with point E in
terms oI 6, b, and1.
SOLUTION
LawoI cosines Ior triangle ABE.
= + b
2
- 2bl -
= + b
2
+
+
cosg, =
tang, =
+
+ b + (b cos
-(tang,) = sec
2
=
dt +
+ + e
+ b
= e
+ b
2
+
But, = o, = and =
b(b +
Hence,
+ b
2
+
DiIIerentiate the expression Ior u
2
.
= -2bl sin
sin6
+ b
2
+
sin bsin
+ b
2
+ +
PROBLEM15.145
Crank rotates with a constant clockwise angular velocity Using
the methoa of 15.9, aerive an expression forthe angular acceleration
of roa BD interms of 8, b, ana I.
SOLUTION
Law of cosines fortriangle
= + b
2
- - 8 )
= + b
2
+
A
COS g, =
I +
tang, =
bsin
I +
d ( I + (bsin
-(tang,)= =
at
( I +
+ b
2
+ sin
2
( I +
+ b
2
b(b+
e
+b
2
+
b(b+
b
2
+ 2bl cos
+ b
2
+ -b(b+
+
+ b
2
+
b(b+
- b
2
)si n8
+ b
2
+
+ +
-
+ b
2
+
4
PROBLEM15.146
A wheel oI radius r rolls without slipping along the inside oI a Iixed
cylinder oI radius R with a constant angular velocity Denoting by P
the point oI the wheel in contact with the cylinder at t = derive
expressions Ior the horizontal and vertical components oI the velocity oI
Pat any time (The described by point Pis a
.
SOLUTION
Y
DeIine angles 8and as shown.
Since the wheel rolls without slipping, the arc OCis equal to arc PC.
r +8) =
R- r
r o
R - r R - r
R - r
= (R - -
= = (R - -
r ot
= - cos
R - r
= R -
= = (R - +
r ot
=
PROBLEM15.147
In Prob. 15.146, show that the path oI is a vertical straight line when
r = Derive expressions Ior the corresponding velocity and
acceleration oI at any time t.
SOLUTION
DeIine angles and as shown.
Since the wheel rolls without slipping, the arc is equal to
+8) = =
= (R - - = - =
The path is they-axis.
= R- (R - - = R- -
= R(I - 8)
v = = v = j 4
=
= j
PROBLEM 15.148
Pin Pis attached to the wheel shown and slides in a slot cut in bar BD.
The wheel rolls to the right without slipping with a constant angular
velocity oI 20 Knowing that x = 480 mm when = determine
the angular velocity oI the bar and the relative velocity oI pin P with
respect to the rod Ior the given data.
\
(a) 8= (b) =
SOLUTION

Coordinates.
+ =
= =
O
= +
= +
= 480 mm = 0.48 m
= 200 = 0.20 m
e =140 mm = 0.14 m
analysis.
+ +
+
= +
Use v, = + and resolve into components.
+ .
. + = +
+(: = -(sin
(a) = 0. = 0.48 m, = 0.48 = 20
Substituting into Eqs. (1) and
(0.20 + = +
0 = -
Solving simultaneously, = 3.81 radIs,
= 3.81 )
= 6.53 = 6.53
(b) =
= 0
Substituting into Eqs. (1) and
=
=
= 2.9973 = 3.00
= 4.00 4
PROBLEM15.149
Pin P is attached to the wheel shown and slides in a slot cut in bar BD.
The wheel rolls to the right without slipping with a constant angular
velocity oI 20 Knowing that x = 480 mm when = determine
the angular velocity oI the bar and the relative velocity oI pin P with
200 respect to the rod Ior the given data.
8 =
SOLUTION
Coordinates.
= + =
= =
= x,, =
=
= r
Data: = 480 = 0.48 m
r = 200 = 0.20 m
e =140 mrn = 0.14 m
Velocityanalysis.
+ +
= -+
Use = and resolve into components.
Substituting into Eqs. (1) and (2)
(0.20
0.65472
Solving simultaneously, = 3.82 )4
= 6.06
= 6.06 10.49"4
PROBLEM15.150
Two rotating rods are connected by a slider block P. The velocity oI
the slider block relative to the rod on which it slides has a constant
velocity oI 30 and is directed outward. Determine the angular
velocity oI each rod Ior the positionshown.
SOLUTION
-
AB 20 BP A P
= = - = -
sin sin
BP =13.6808 in., AP = 30.642 in.
=
= 50
= + v, . Resolve into components.
.
= +
Rearranging,
(30.642 cos - =
(30.642 sin - (1 = (2)
Solving Eqs. and
=1.9581 = 3.7981
=1.958
= 3.80 rads
Note that instead oI resolving into components, the triangle oI vectors
and can be constructed. Then,
= 51.962 = 30 =
30 60
= =1.958 - 60
=
sin (AP) 30.642
PROBLEM15.181
The bowling ball shown rolls without slipping on the horizontal plane
with an angular velocity = + + Knowing that
and
+ (7.2 determine (a) the angular velocity oI the bowling ball, (h)
the velocity oI its center
SOLUTION
At the given instant, the origin is not moving.
v, = o x - + =
i
0.109 0.109 0
4.81 - + = + + -
i: - = 4.8 = -44.037
j: 0.1090, = -4.8 = -44.037
k: - = 3.6 - = 33.028
v, = o x r,: + =
i j k
w,,
0 0.218 0
+ = +
i: - 0.2 = 9.6 = -44.037 rads
j: = 7.2 = 33.028 rads
= - 33.028 = 0
(a) = (33.0 - (44.0
point
= x = - x
= 4.81 +
= (4.80 + (3.60
PROBLEM15.182
The bowling ball shown rolls without slipping on the horizontal plane
with an angular velocity = + + . Knowing that
= (3.6 - (4.8 + (4.8 and v, = (7.2
+ (9.6 determine (a) the angular velocity oI the bowling ball, ( h )
the velocity oI its center
SOLUTION
At the given instant, the origin is not moving.
i: - = 3.6 - = 33.028
j: -0.1090, = -4.8 = 44.037
k: = 4.8 = 44.037
v, = o x - + =
i j k
0 0.109 0.109
i: - = 7.2 = -33.028
k: = 9.6 = 44.037
v, = o x + =
(a) Angular velocity. o = (44.0 - (33.0
i j k
0 0.218 0
(h) Velocity point
I
PROBLEM15.183
At the instant considered the radar antenna shown rotates about the origin
oI coordinates with an angular velocity = + + . Knowing
that = 15 = 9 and = 18 determine
(a) the angular velocity oI the antenna, (b) the oI point A.
SOLUTION
v, =
i j k
12 0 -10
+ = +
i: =
j: 15 =
k: =
= =
i j k
12 -10 0
+ 9j +18k = - +
i: =
j: 9 =
k: 18 = -
= 0.75
1
= - = 0.600
10
1
+ =-2.00
12
(a) Angular velocity.
= (0.600 i - (2.00 rads) j + (0.750 rads) k
From
= = 20.0
From = = 24.0
Velocityof point A.
= (20.0 + (15.00 + (24.0
I
PROBLEM15.184
The blade assembly oI an oscillating Ian rotates with a constant angular
velocity = with respect to the motor housing.
the angular acceleration oI the blade assembly, knowing that
,
at the instant shown the angular velocity and the angular acceleration oI
the motor housing are, = -(3 rpm) j and = 0.
SOLUTION
a, = =
= =
Let the Irame rotate with the motor housing.
Rate oI rotation oI Frame = =

a
= (0 + 0) + x (-1 -
= - .500n
2
k a = k
PROBLEM15.185
Gear A is constrained to roll on the Iixed gear B but is to rotate about
axle AD. Axle ADis connected by a clevis to the vertical shaIt DEwhich
rotates as shown with a constant angular velocity Determinethe
angular velocity oI gear A, (h) the angular acceleration oI gear A.
SOLUTION
Let be the spin oI gear A about the axle AD.
Total angular velocity. = + +
= - - +
Since gear B is Iixed, v, = 0.
= 0 =
+ - -
- - =
(sin' + cos' = = (Lsin - r
(h) Angular acceleration.
Frame is rotating with angular velocity =
i
sin + 0
PROBLEM15.186
Gear A is constrained to roll on gear Bbut is Iree to rotate about axle AD.
i ' \
Axle AD is connected by a clevis to the vertical shaIt DE which rotates as
shown with a constant angular velocity Knowing that gear B rotates
with a constant angular velocity determine (a) the angular velocity
,
oI gear A, (h) the angular acceleration oI gear A.
...-
SOLUTION
Let be the spin oI gear A about the axle AD.
Total angular velocity. = + +
Since gear Bis rotating with angular velocity on gear B,
Equating the two expressions Ior v,. and solving Ior
On gear A = =

i
sin + 0
(h) acceleration.
Frame is rotating with angular velocity = j.
PROBLEM15.187
in.
The L-shaped BCD rotates about the axis with a constant angular
velocity w, oI 5 Knowingthat the 7.5-in.-radius disk rotates about
BC with a constant angular velocity oI 4 determine the angular
acceleration oI the disk.
I

Frame is rotating with angular velocity = qk .
= +q k x + =
a = =
a =
PROBLEM15.188
In Prob. 15.187, the velocity oI point (b) the acceleration
oI point
= +
= (4 j + (5 k

= + + =
= = =

= (7.5 +(6in.) j
= =
i j k
4 5
7.5 6 0
= (-30 +(37.5 j - (30 k
= + (3.13 - (2.50 4

= - - +120k
= (-307.5 - (150 in.ls
2
) j
= - (12.50 j 4
j k
7.5 6 0
+
i j k
4 5
-30 37.5 -30
PROBLEM15.189
A gun barrel oI length OP =12 is mounted on a turret as shown. To

keep the gun aimed at a moving target the azimuth is being
increased at the rate = and the elevation angle y is being
increased at the rate dy ldt = For the position = 90' and
y = determine the angular velocity oI the barrel. (h) the angular
acceleration oI the barrel, the velocity and acceleration oI point I.
I
SOLUTION
Let dt -(I
i = = =
= +
= 1745 - (0.524

a = 4
108

For = and = = (12 +
=
i
0
= +1.813805 -
+(1.814 - (1.047
= (6j + +
108
i
- -
-5.4414 1.81380 -1.04720
= + Oj + - 0.182775-
= (1.097 - (0.1828 -(3.17
PROBLEM15.190
A 60-mm-radius disk spins at the constant rate = about an
axis held by a housing attached to a horizontal rod that rotates at the
constant rate = 5 For the position shown, the
angular acceleration oI the disk, (b) the acceleration oI point P on the rim
oI the disk iI = the acceleration oI point Pon the rimoI the disk
iI = 90".
= q i +
= (5 +(4 k

is rotating with angular velocity =
= +q i x + =
= j = a = j 4
(h) =
= (60 mm) i = (0.06 m)i
v, = x = + 4k) x =
= a x + x v, = -20j x + + 4k) x
= + - = +
a, -(0.960 m/s
2
)i + (2.40
=
= (0.06 m) j
v, = x = +4k) x = +
= -20j x +(5i + 4k) x +
= 0 +0 - - + 0 =
a, = j
PROBLEM15.191
A 60-mm-radius disk spins at the constant rate = 4 about an axis
held by a housing attached to a horizontal rod that rotates at the constant rate
= 5 Knowing that = determine the acceleration oI point P
on the rim oI the disk.
I
= +
= (5 i +(4 k

= + + =
= j = -20j a = ) j
= = (60 +
= (0.06 + sin
=
i
5 0 4
= (-0.12 i +(0.20785 j +(0.15 k

= - - +
= - (1.230 +(2.08
i k
0 -20 0 +
i k
5 0 4
- 0.12 0.20785 0.15
PROBLEM15.192
Two rods are welded together to Iorm the assembly shown that is
attached to a Iixed ball-and-socket joint at D. Rod moves on the
inclined plane Ethat is perpendicular to the plane. Knowing that at the
instant shown the speed oI point is 100 and determine
(a)the angular velocityoI the assembly, the velocity oI point
SOLUTION
plane. LawoI cosines.
280' = - 2(200) cos
By solving the quadratic equation = 120 mm

Let point H be the midpoint oI rodAB. = (120 - (260 mm) k
= 00 mm) + (1 -(260 mm) k, = (-1 00 mm) + 20 -(260 mm) k
Let be a unit vector normal to plane = sin +
The projectionoI onto the normal is zero.
. = . =
-260
= 219.900, =
= 0
Also, the projection oI onto the normal is zero.
200 0 0
Then, = +
i
o
100 -260
= i + j -

(-0.20690) = -0.35836 rads
= -0.206905 -
= rads) -(0.358 k
= o x
i
0 -0.20690 -0.35836
-100 120 sin -260
PROBLEM15.193
In 15.192 the speed oI point B is known to be increasing at the rate
oI 200 For the position shown, determine (a) the angular
acceleration oI the assembly, (b) the radius oI curvature oI the path oI
point B.
SOLUTION
Fromthe solution to Problem15.192, o = (-0.20690 radls) - (0.35836 k
A = sin + =100
Note that is parallel to
The projection oI onto the direction Ais zero.
Also, the projection oI onto the direction A is zero.
=
Unit vector tangent tothe path oI point B.

But is givenas 200 = 200
. = . + . = . +
a = - (0.717
=

0.91036 -0.35836 0.20690
0
100 120sin60 -260
But
=
=
- 241.7mm
41.379
i
-0.20690 -0.35836
91.036 -35.836 20.690
- = 242

a = rad/s
2
)k

a, = -0.414 - 0.717 rad/s
2
k
a,
= 450i - 600j + Ok - 6752 - +Ok
= (-225 -(2400 = -(1 8.75 i -(200 j 4
i j k
0 0 -150
4 3 0
+
i j k
20 -7.5 0
0 0 90
PROBLEM15.195
A 1.5-in.-radius wheel is mounted on an axle OB oI length 5 in. The
wheel rolls without sliding on the horizontal Iloor, and the axle is
perpendicular to the plane oI the wheel. Knowing that the system rotates
about the y axis at a constant rate = 2.4 (a) the
angular velocity oI the wheel, (h) the angular acceleration oI the wheel,
(c) the acceleration oI point located at the highest point on the rim oI
the wheel.
SOLUTION
Geometry.
b
=-= 0.3 =
I
=
-
A
= +
Angular velocities.
For the system, = = (2.4 j
For the wheel, o = +
= x = + + x =
- = 0
= 0, = 0 =
= o x = x + =
For the system,
= x = x + =
Matching the two expressions Ior
= cos or =-
b 1.5
o = (8.00 i
(h) Angular acceleration.
+ x = + x =
a = -(19.20 k
-
= -(1 - + = (-4.7891 + (2.8735in.)j
= = + = (22.988
=
= + +
= (-55.171in./s
2
)i - (100.229in./s
2
) j = - (8.35 j 4
PROBLEM15.196
Rod AB is connected by ball-and-socket joints to collar A and to the
320-mm-diameter disk C. Knowing that disk C rotates counterclockwise
at the constant rate = 3 in the plane, determine the velocity
oI collar A Ior the position shown.
,
= (-0.16 m) k, = m) + (0.4 m) - (0.16 m) k

B. = x = 3j x = (0.48
A. =
= +
where
= x
Noting that is perpendicular to we get . = 0.
Forming we get .
or
From + - 0.16k) . = + -
= 4. 2 4 or = -0.6 =
PROBLEM15.197
Rod AB oI length 580 mm is connected by ball-and-socket joints to the
rotatingcrank BCand to the collar A. CrankBCis oI length 160 mmand
rotates in the horizontal plane at the constant rate = 10 At
the instant shown, when crank BC is parallel to the axis, determine the
velocityoI collar A.
= (-0.16 m)k, = (-0.24 m)i +(0.42 m) j + (0.32 m)k

B. = x = x =

=
= +
where
= x
Noting that is perpendicularto r,,, we get v,,, = 0.
Forming v,, we get
. .
=
From(I ), + + = + +
= 0.384 or = 0.91428 v, = (0.914 j
I
PROBLEM15.198
Rod AB oI length 13 in. is connected by ball-and-socket joints to collarsA
and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed oI 36 determine the
velocityoI collar A when b 4in.
SOLUTION
2
2 2
I , = (-7.8) + c
2
+ c = 9.6 in.
= (-7.8 +(9.6 in.) - (4
VelocityoI collar B. = (-36
VelocityoI collar A.
=
= + where
= x
Noting that is perpendicular to we get = 0.
Forming v,, we get
. . .
or
=
From( ), + - 4k) = + - 4k) (-36k)
= 144 or v, = 15 v, = (15.00 j
PROBLEM15.199
Rod ABoI length 13 in. is connected by ball-and-socket joints to collars
A and B, which slide along the two rods shown. Knowing that collar B
moves away Irom point D at a constant speed oI 64 determine the
velocity oI collar A when b= 6.24 in.
\
SOLUTION
Geometry. 2
2 2
= + + : = + c
2
= 8.32 in.
= (-7.8 + (8.32 in.) -(6.24 in.) k
VelocityoI collar B. = (64 k
VelocityoI collarA.
=
= +
where
= x
Notingthat is perpendicular to we get = 0.
Forming . we get . = + = + .
or
=
From + - = + - .
= -399.36 or = -48 = -(48.0 j
PROBLEM15.200
oI length 500 is connected by ball-and-socket joints to
collars and B, which slide along the two rods shown. Knowing that
collar moves toward point E at a constant speed oI 200
determine the velocityoI collar as collar passes through point D.
SOLUTION
Geometry. 2
2 2
+ + (-0.24) + +
= 0.18 m, = (-0.24m) + (0.18 m) - (0.4m)k
Jelocity of collar
=
-0.1
= (0.200) = (0.16 - (0.12 f
0.3
Jelocity of collar A.
=
= +
where
= x
Forming r,, . we get
= . + = . +
From + - . = + - -0.12j)
= + or = -0.333
v , = f 4
I
PROBLEM15.201
Rod oI length 500 is connected by ball-and-socket joints to
collars and which slide along the two rods shown. Knowing that
collar moves toward point E at a constant speed oI 200
determine the velocity oI collar as collar passes through point C.
SOLUTION
2 2 2 2
Geometry. = + + = 0 + + (-0.4)
Velocity oI collar
-
= (0.200) = (0.16 -(0.12 d s ) j
0.3
VelocityoI collar
=
= + where
= x
Forming we get
or
From - . = - -
= j 4
PROBLEM15.202
Rod ABoI length 15 in. is connected by ball-and-socket joints to collarsA
and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed oI 2.5 determine the
velocity oI collar A when c = 4 in.
SOLUTION
Geometry. = yj, = (4.5 = (9 in.) k
= - = (4.5 - = = 10.0623 in.
-
-
= -
9
= + = 9k + 2i - 4k = (2 + (5
= - = (-2 + in.) -(5
2 2 2 2 2
y = =
Jelocity of collar B.
-9k)
=
= (1.11803 - (2.23607 k
10.0623
Jelocity of collar A.
=
where
Noting that is perpendicular to we get . = 0.
Forming . we get
= =
or . =
From (-2i +14j - . = (-2i +14j - -
= + or = 0.63888
= (0.639 j
Rod AB oI length 15 in. is connected by ball-and-socket joints to collars
A and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed oI 2.5 determine the
velocity oI collar A when c = 6 in.
SOLUTION
Geometry. = yj, = (4.5 in.)i = (9 in.) k
(4.5 - (9
=
= 10.0623 in.
-9k)
=
= (3in.) i - (6 in.)k
9 9
r, = + = 9k + 3i - 6k = +
= - r, = -3i + yj - 3k
2 2
+ + + +
y =14.3875 in., = (-3 + (14.3875 in.) j - (3
Velocity oI Collar B.
-9k)
=
= (1.11803 -(2.23607
10.0623
Velocity oI Collar A.
= + where
= x
Forming we get
+ = + .
or =
From (-3i + - 3k) = (-3i + -3k) . (1.1 -
= + or = 0.23313
= (0.233 j
PROBLEM 15.204
Two shaIts and EG, which lie in the vertical plane, are connected
a universal joint at D. ShaIt rotates with a constant angular
velocity as shown. At a time when the arm oI the crosspiece attached
to shaIt is vertical, determine the angular velocity oI shaIt
,
SOLUTION

=
Let be the angular velocity oI body relative to shaIt
= +
- = (cos -sin
= - sin +
Equate the two expressions Ior and resolve into components.
i:
j: = sin
k: =
From
=
PROBLEM15.205
Solve Rob. 15.204 that the oI the crosspiece attached to
,
shaIt horizontal.
. ,
I"-
,
.

= +
= - sin
Let be the angular velocity oI body relativeto shaIt EG.
Where A is a unit vector along the axis the clevis axle attached to shaIt
= cos + sin
= cos + sin
= +
= cos20"- sin j + sin20" + cos20") k
j: = - sin20"
k: = +
From(2) and
= 4
PROBLEM15.206
Rod AB oI length 275 mm is connected by a ball-and-socket joint to
collar A and by a clevis connection to collar B. Knowing that collar B
moves down at a constant speed oI 1.35 determine at the instant
shown (a)the angular velocity oI the rod, (b) the velocity oI collar A.
SOLUTION
Geometry. Determine the position oI collar A.
= = + = ( 150 mm)i +(50mm) f
= - -
Length oI rod AB. = = - -
Solving Ior :,, :, = 225 mm
(-150 mm)i - (50mm) +(225mm)k = (-0.15 m) - (0.05 m) +(0.225m)k
Jelocity. = (-1.35 f, v , =
Angular velocity B.
=
The axle oI the clevis at Bis perpendicularto both the y-axis and the rod AB.
A vector along this axle is
P
= f x = f x - + = (225 -(150
p = = 270.42 mm
Let 5 be a unit vector along the axle.
P
5 - +
Let = be the angular velocity oI rod ABrelative to collar B.

a, = +
Angular velocity of roa AB.
= +
= + +
X
= +
i
0.554700,
-0.15 -0.05 0.225
Resolving into components,
i: 0 = 0
j: 0 = -1.35 + -0.270416~0,
k: = -0.041603~0,
From = -4.9923 rads
From = 0.61539 rads
(a) Angular velocity oI rodAB.
= + 0.61539) +
= + (0.615 rads) j - (2.77
(b) Velocity oI collar A.
From = - = 0.3000
PROBLEM15.207
Rod oI length 840 mm is connected by a ball-and-socket joint tc
collar and by a clevis connection to collar Knowing that collar
moves toward A at a constant speed oI 390 determine at the
shown(a)the angular velocity oI the rod, (b) the velocity oI collar C.
SOLUTION
Geometry. = +(640 mm) j, = (480 mm) j +(200 mm)k
I,, = 480 + - 520 mm
= +(1 60mm) -(200 mm)k
Length oI rod = = + +
Solving Ior = 800 mm
= (800mm)i +(160mm) j -(200 mm)k
Velocity.
390
= - = (-360mm) j - 50 k
520
=
Angular velocity =
The axle oI the clevis at is perpendicularto the x-axis and to the rod
vector along this axle is
i x
p = i x +160j - = (200mm) j + (160mm)k
p = 200 +160 = 256.125 mm
Let A be a unit vector along the axle. A = = +
Let = be the angular velocity oI rod relativeto collar

= +
Angular oI rod
= + +
= -150k +
i
800 160 -200
Resolving into components,
=
: 0 = -360 + + 499.760,
k: = -150 + - 624.700,
Solvingthe simultaneous equations and
= 1.4634rads, = 0.13470rads, = -34.50
(a) Angularvelocityof rodBC.
= 1.46343+ + k
= (1.463 + (0.1052rads) j + (0.0841rads)k
Velocity of collar = 4
PROBLEM15.208
For the mechanism oI the problem indicated, determine the acceleration
oI collar A.
MechanismoI Prob. 15.202
la
yj, = (4.5 = (9 in.) k
- 9k)
9
= (2 in.) - (4 in.)k
9
=
9k)
=
= (1.11803 in.) i - (2.23607 k
10.0623

=
= +
where
=
Noting that is perpendicular to we get
Forming
From +14j - = + = -
Relative velocity. = -
= (0.63888 - (1.11803 + (2.23607 k
= + + = 6.6582
2
Acceleration oI collar B. a, =
Acceleration oI collar A. =
= + where = +
Noting that x is perpendicular to we get
x
We note also that
2 2
Then,
Forming we get
= + = +
From (-2i +14j - 5k) = - 6.6582
PROBLEM15.209
For the mechanismof the problem indicated, determine the
of collar A.
Mechanismof 15.203
SOLUTION
= (4.5 = (9 in.)k
9k)
(3 in.)i - (6in.)k
9 9
= 14.3875 in. (-3 +(14.3875 in.) j- (3in.)k

9k)
=
= (1.1 1803 i -(2.23607
10.0623
Noting that is perpendicular we
Forming . we get
or
= + = +
= (0.23313 j-(1.11803 +(2.23607 k

=
=
= +
where
= +
Notingthat is perpendicularto we get =
We note also that
-

Then,
Forming we get = + = +
or
From

PROBLEM15.210
oI collar A.
Mechanism oI 15.198
SOLUTION
Geometry.
2
= + + = + + c = 9.6 in.
= (-7.8 +(9.6 in.) j - (4
VelocityoI collar B. = (-36 k
VelocityoI collar A.
=
= +
where
= x
or =
From + - = + -
= 144 or =15
Relative velocity.
= -
= 5 +(36 =1 +36' =152
AccelerationoI collar B. a, =
PROBLEM 15.210 CONTINUED

=
= +
where
= +
Notingthat is perpendicular to we get
x =
We note also that
2 2
Then,
or
From
'I
PROBLEM15.211
oI collar A.
SOLUTION
Geometry. = + + 13' = + c' + c = 8.32 in.
= (-7.8 in.) i +(8.32 in.) - (6.24 in.) k
Velocity of collar B. = (64 k
Velocity of collar A.
=
= + where
= x r,,
= 0
Forming we get
= + = +
or
From ), +8.323 - = +8.323 -
= -399.36 or = -48
Relative velocity.
= -
= (-48 - (64 = 48' + 64' =
Accelerationof collar B. a, = 0
=
= + where
= +
x =
We note alsothat
or
From
PROBLEM15.212
oI collar A.
SOLUTION
Geometry. = (-0.16 = (-0.5 m)i + (0.4 m) j - (0.16 m)k
Velocityat B. = x = 3j x = (0.48 d s )i
Velocity of collar A.
=
where
= 0
Forming we get
+ = +
or (1)
From ( 1 ), + - 0. = + -
= -0.24 or = -0.6
Relative velocity.
= -
= (-0.6 d s ) - (4.8 = (-0.6)' +(0.48)' =
Accelerationat B. a, = = x 0.481 =
=
= +
where
= + x
Notingthat x is perpendicular to we get
x
We note also that
-
2 2
Then,
or = -
From
+ -
= + - -
= - =
PROBLEM15.213
oI collar A.
MechanismoI 15.197
SOLUTION
Geometry.
Velocity B.
Velocity collarA.
Relative velocity.
= m) k, = m)i + (0.42 m) j +(0.32 m)k
x x
=
Noting that is perpendicularto ,we get
= + = +
(-0.241 + + = + +
= 0.384 or = 0.91428 = (0.91428
=(0.91428 j+(1.6
=(0.91428)' + (1.6)' =
=
Acceleration collar A.
=
+ where = a,, +
Noting that x is to we get =
-
- (

Then,
we
= + = +
= -
+ + = + + -
= -
=
PROBLEM15.214
The bent pipe shown rotates at the constant rate =10 Knowing
that a ball bearing D moves in portion BCoI the pipe toward end Cat a
constant relative speed u = 2 determine at the instant shown the
velocity oI D, (b) the acceleration oI D.
SOLUTION
With the origin at point A, =(8 in.) in.).j - (6 in.) k.
= (8 - (6 in.) = =
Let the Irame rotate with angular velocity = = (10
= x =101 x +12j - 6k) = (60 + (120
24
u = 2 = 24 = - 6k) =(19.2 - (14.4
10
= + = (19.2 + (60 j + (105.6 k
= (1.600 + (5.00 j + (8.80 k 4
a , = = x (60j + = + (600 in.ls
2
)k
a , =
x = x - = (288 j
a, = + a , x = +
a, = +(50.0
PROBLEM15.215
The bent rod shown rotates at the constant rate = 5 and collar
moves toward point B at a constant relative speed = 39 Knowing
that collar is halIway between points B and D at the instant shown,
determine its velocity and acceleration.
(14.4 in.) = (6 +(20.8 in.) k

= -(6 + (14.4 in.) - (20.8 in.) k = +14.4' + 20.8' = 26in.
= + = (3 + (7.2 in.) + (10.4
2
Let rotate with angular velocity R = q k =
-- = 39
= = 5k x (3i + + = +(15 j
39
= = + - = -(9 + (21.6 -(31.2
26
= +
= +(36.6 - (31.2 k
--
= R = 5k x + = in./s
2
)i - in./s
2
) j
= + 21.63 - 3 = - (90 j
= + + 2R
= -(270 in./s
2
)
PROBLEM15.216
The bent rod EBDrotates at the constant rate = 8 Knowing that
D
collar moves upward along the rod at a constant relative speed
u = 600 and that 8 = determine (a) the velocity of (b) the
accelerationoI
z
I
SOLUTION
Let Irame rotate with angular velocity = = (8
Note that point B does not move.
= + j, = 120 8 =
= (103.923 mm)i + (60

= = 8i + 60j) = (480
= + = + x 480k =

= u + sin u = 600
= (300 i + (519.62
u
2
= +
P
= +(1500
= 252
= + = (8313.9 k
(a) = +
= (300 + (519.62 + (480
= (0.300 i + (0.520 + (0.480 k

PROBLEM15.217
The bent rod EBDrotates at the constant rate = 8 Knowingthat
collar A moves upward along the rod at a constant relative speed
= 600 and that = determine the velocity oI A,
( h) the acceleration
x
SOLUTION
Let Irame rotate with angular velocity = =
Note that point Bdoes not move.
= psin + - j, p = 120mm, = 1
= (103.923 mm)i + (1 mm) j

= x = x + = (1440
= a + x = + x =

= + sin = 600
= +(519.62 j
-( +
a, = )i - (1500 j
- a, = x
a, = x +5 = (8313.9 mm/s
2
)k
= +
= i +(519.62 j + (1440 k
= + (0.520 j +(1.440 4

= + + a,
PROBLEM15.218
A square plate oI side 360 mm is hinged at A and B to a clevis. The plate
rotates at the constant rate = 4 with respect to the clevis, which
itselI rotates at the constant rate = 3 about the Y axis. For the
position shown, determine the velocity oI point C, (b) the acceleration
oI point C.
SOLUTION
= (0.36 m)(cos - sin
Let Irame rotate about they axis with angular velocity = j and angular acceleration = 0.
Then, the motion relative to the Irame consists oI rotation with angular velocity = and angular
acceleration = about the axis.
= x 3j x - =
= x = 4k x -
=1.44sin +1.44 cos
= + =1.44sin +1.44cos -1.08cos
= (0.493 + (1.353 j -(1.01 5 k
= x = 3j x (-1.08cos = -3.24 cos
= x = 4k x (1.44sin +1.44cos
= -5.76 cos + 5.76sin
x = (2)(3j) x (1.44sin +1.44cos =-8.64 sin
= + + x
= -(3.24 + 5.76) cos + 5.76sin - 8.64sin
a, = m/s
2
)i + (1.970 m/s
2
) j - (2.96 k
I
PROBLEM15.219
A square plate oI side 360 mm is hinged at A and Bto a clevis. The plate
rotates at the constant rate = 4 with respect to the clevis, which
itselI rotates at the constant rate = 3 about the Y axis. For the
position shown, determine ( a) the velocity oI comer D, (h) the
acceleration oI comer D.
SOLUTION
= (0.36 m)(cos - sin +(0.180 m) k
Let Irame rotate about they axis with angular velocity R = j and angular acceleration = 0.
Then, the motion relative to the Irame consists oI rotation with angular = and angular
acceleration = about the axis.
= = 3j - +
= -1.08 cos
= x = 4k - + 0.180k)
= +1
= + = (0.540 +1.44sin + -1.08cos
= (1.033 + (1.353 d s ) j - (1.015 4
= R = 3j -
= -3.24 cos -
= x = 4k +
= -5.76 cos + 5.76sin
2R = + =
= -(3.24 + 5.76) cos + 5.76sin - (1.62 + k
= +(1.970 j -(4.58 4
PROBLEM15.220
The rectangular plate shown rotates at the constant rate =12 rads
with respect to AE, which itselI rotates at the constant rate
= 9 about the axis. For the position shown, the
velocity oI comer (b) the acceleration oI comer B.
With the origin at A, = (6.75 in.) j

Let Irame rotate about they axis with constant angular velocity = = (9 k. Then, the
motion relative to the consists oI rotation about the x axis with constant angular velocity
= = (12 i.

= x = 9k x =
= +
= 0 +9k x = j

= x =12i = (81
= +
= +121 x 81k =

+
= + (81.0 k
-
= 81k =
= +
= j
= j
PROBLEM15.221
The rectangular plate shown rotates at the constant rate =12 rads
with respect to AE, which itselI rotates at the constant rate
= 9 rads about the Zaxis. For the position shown, determine the
velocity oI comer the acceleration oI comer C.
X
6
With the origin at A, = (6.75 in.) +(4.5

Let rotate about they axis with constant angular velocity = q k = (9 k. Then, the motion
relative to the Frame consists oI rotation about the x axis with constant angular velocity
= = (12

= x = 9k x + =
= +9k x = in./s
2
)

=
x = x (6.753 + = j + (81
= + x (-543 + = j - (648 in./s
2
)k

= +
= - (54.0 + (81.0 k
-
x = x (-543 + = (972 in./s
2
)i

+ + x
a, = (972 in./s
2
) - (1518.75 in./s
2
) j -(648 k
a, = (81.0 - (126.6 -(54.0 k 4
PROBLEM15.222
Solve Prob. 15.221, assuming that at the instant shown the angular
velocity oI the plate with respect to is 12 and is
decreasing at the rate oI 60 rad s
2
, while the angular velocity oI the
about the axis is 9 and is decreasing at the rate oI 45 s
2
.
SOLUTION
With the origin at = (6.75 in.) j + (4.5
Let Irame rotate about they axis with angular velocity = = (9 k and angular acceleration
a = = rad/s
2
)k. the motion relative to the consists oI rotationabout the axis
angular velocity = = (12 i and angular acceleration = =

= = 9k + =
= a +
= x + + 9k x
= (303.75 - (546.75

= x = 12i x + = j + (81
= (-60i) x + +12i x (-54j + 81k)
= -405k - -648k
= in./s
2
) -(1053

= +
= -(54.0 +(81.0 k
-
= + = (972 in./s
2
)i

= + +
= (1275.75 - (1248.75 in./s
2
) (1053
= (106.3 - (104.1 j - (87.8
PROBLEM15.223
Solve 15.214, assuming that at the instant shown the angular
velocity oI the pipe is 10 and is decreasing at the rate oI
15 rad/s
2
, while the relative speed u oI the ball bearing is 2 and is
increasing at the rate oI 10
SOLUTION
With the origin at point A, = (8 in.) i + (12 in.) - (6 in.) k
= (8 - (6 in.) k, = =
Let the Irame rotate with angular velocity = q i = (10 i and angular acceleration
= =
= = +12j - 6k) = (60 +(120
24
u = 2 Ws = 24 u = - 6k) = (19.2 - (14.4
10
= + = (19.2 +(60 +(105.6
= (1.600 +(5.00 Ws) + (8.80
= +12j - 6k) + (60j +
= -90j - - + 600k = j +(420 in./s
2
)k
=10 =120 in./s
2
= -6k) = (96 in./s
2
)i - (72 in./s
2
)k
10
u = - = (288 in./s
2
) j
= + + = (96 - j + (348
= (8.00 Ws
2
)i - (83.5 + (29.0
PROBLEM15.224
Solve 15.215, assuming that at the instant shown the angular
velocity oI the rod is 5 and is increasing at the rate oI 10
while the relative speed oI the collar is 39 and is decreasing at
the rate oI260
SOLUTION
Geometry. = (14.4 r,, = (6 in.) i +(20.8 in.) k
= -(6 in.) + (14.4 in.) -(20.8 in.) k = +14.4' + 20.8' = 26 in.
1
= + r,,) = (3 +(7.2 in.) +(10.4
2
Let Irame rotate with angular velocity = q k = (5
analysis. = 39
= x = 5k x (3i + + = + j
39
= = + - = + j - (3
26
= + (36.6 - (31.2 4
Acceleration analysis. a = u = -260 in./s
2
= x = 5k x + = in./s
2
)i - (180 j
= a x + u
-260
= x (3i + + + + -
26
= + (30 in./s
2
) +(60 - (144 j+(208 in./s
2
)k
= x + - 3 = in./s
2
)i - (90 in./s
2
) j
2S2
= -(384 in./s
2
) +(208
PROBLEM15.225
SOLUTION
Let Irame rotate with angular velocity = = (5 The motion relativeto the Irame is the spin
= (4 k.

= + 5i x 4k = -20j a = -(20.0rad/s
2
)j
(b) =
= (60 = (0.06 m)i
= x = 5i x = 0
= 4k = (0.24
= x + q i x =
X = 4k =
= x = x = (2.4
a, = + + a, = m/s
2
i + 2.4
a, = m/s
2
)i +(2.40 m/s
2
)k
=
= (60 mm) j = (0.06m) j
= x 5i x = (0.3
= = 4k =
= - j
4k
a, = 2R x = x = o
a, = m/s
2
) j
PROBLEM15.226
SOLUTION
Let Irame rotate with angular velocity = q i = (5
The motion relative to the Irame is the spin = (4 k
= = (60 +sin
= (0.06 +
= q i = 5i + = (0.15
= = 4k +
= + (0.20785
= + = 0 + x = j
= = + 4k x +
= m/s
2
)i - (0.48
x = + = (2.0785

= 1 -(1.230 j + (2.08 k
PROBLEM15.227
--
SOLUTION
Let Irame rotate with angular velocity = j
Let = be the spin oI gear A about the axle AD, where = -sin + cos is a unit vector along
the axle.
= - - +
Due to motion oI the Irame,
Due to spin
Then, = + = - Lsin + k
Since gear Bis Iixed, =
(a) velocity.
(b) Angular acceleration.
PROBLEM15.228
Usingthe methodof 15.14, solve 15.186.
SOLUTION
Let withangularvelocity
Let = be the spinof gearA about the axleAD, where = + isaunit vectoralong
the axle.
= - - +
Dueto motion of the frame,
Due to spin
= x =
= + = - +
SincegearBisrotating withanguIar velocity ongear
= x = -
Fquatingthetwoexpressions solvingfor
(a) Angular
PROBLEM CONTINUED
Frame is rotatingwithangular velocity
PROBLEM15.229
The rotor oI a Ian rotates about the Y axis at a constant rate
= 0.8 At the same time, the blades rotate at a constant rate
= = 300 Knowing that the distance between the rotor
and point A on the tip oI the blade is = 160 and that 8 = 45" at the
instant shown, determine the velocity and acceleration oI point A.
= (160 + = (0.16 +
Let Irame which coincides with the Iixed Irame at the instant shown, be rotating about the
y axis with constant angular velocity = j = (0.8 j Then, the motion relative to the Irame consists
oI a rotation about the axis with constant angular velocity
= --i = =

= x = x (0.16 sin + 0.16cos = (0.128
= x = x =

v,, = x = x +
= -
a, , = x = x -
= -
+
v, = (0.128 + -
v, = (0.0905 + (3.55 j - (3.55 4
- 2R v,,
x = (2) x cos - sin = - sin

= + + x
= - - +
= -(1 11.7 -(1 11.7 mls
2
)k
PROBLEM15.230
The crane shown rotates at the constant rate = 0.25
simultaneously, the telescoping boom is being lowered at the constant
rate = 0.40 Knowingthat at the instant shown the length oI the
boom is 6 m and is increasing at the constant rate = 0.45
determine the velocityand acceleration oI point B.
= = (6 + = (3 m) + m) k
Method 1
Let the unextending portion oI the boomAB be a rotating Irame oI reIerence.
Its angular velocity is
= + j = (0.40 + (0.25 rads) j
Its angular acceleration is
a = j x = = k.

x = + (3j + = - +(1.2 k
i
0.40 0.25
1.2
= + - - = (0.60 - (0.48 -

+ = (0.45 +(0.45
= +
v, = - + + +
v, = (1.299 -(1.853 j +(1.590 k
-
x = + x +
(0.194856 -(0.31177 j + (0.18
i j k
0 3
+ +
Method 2
Let Irame which at the instant shown coincides with rotate with an angular
velocity = j = (0.25 j. Then, the motion relative to this Irame consists oI turning
the boomrelative to the cab and extending the boom.

= = (3j + =
= = =

Let the unextending portion oI the boombe a rotating with constant angular velocity
= = (0.40 The motion relativeto this Irame is the extensional motion with speed u.

= +
-
= + = 0.794863
= + +
a, = - 0.791775- + 0.794863
= (0.795 - (0.792 -(0.976 k
I
PROBLEM15.231
A disk oI radius 6 in. rotates at the constant rate = 5 with
respect to the arm which itselI rotates at the constant rate
= 3 For the position shown, determine the velocity and
acceleration oI mint C.
iII
SOLUTION
= (9.75 in.) i - (7 in.) j = (6 in.) i
Let Irame whichcoincideswiththe Iixed Irame at the instant shown, be rotating about theyaxis
with constant angular velocity R = = (3 j Then, the motion relative to the Irame consists oI
rotation about the axle B with a constant angular velocity = = (5

= x = 3j x (9.751 - 7j) =
= x = 3j x =

= x = x 6i = j
a, = = 5k =

+
= (30.0 - (29.3
2R x = x =
= + +2R x
a, = -87.751 - 150i +
a, =
PROBLEM15.232
A disk oI radius 6 in. rotates at the constant rate = 5 with
respect to the arm AB, which itselI rotates at the constant rate
= 3 For the position shown, determine the velocity and
accelerationoI point D.
SOLUTION
Geometry. = (3.75 in.) i - (13 in.) j = -(6 in.) j
Let Irame which coincideswith the fixed Irame at the instant shown, be rotatingabout they axis
with constant angular velocity = j = (3 Then,the motionrelative to the Irame consists oI
rotation about the axle Bwith a constant angular velocity = = (5
Motion oI the coincidingpoint in
= x = 3j x -13j) =
a, = x = 3j x (-1 =
Motion relative to
= x = 5k x (-6j ) = (30
a, = x = 5k x = in.ls
2
) j
Velocity D.
= +
= (30.0 -(1 1.25 k
Coriolis acceleration.
x = x = k
Acceleration D.
a, = i +(1 50.0 - (1 80.0 k
PROBLEM15.233
The bar AB is made to rotate at the constant rate
= =8 with respect to the which itselI rotates
at the constant rate = 12 about the Y axis. Knowing that
= 60"at the instant shown, determine the velocity and acceleration oI
point A.
= = (0.200 m) (cos +sin = (0.1 m)i + m) j

Let the rotate about they axis with constant angular velocity = j = (12 j. Then, the
motion relative to the Irame consists oI rotation about the axis with constant angular velocity
= = (8 k.

= x = x + =
= x + x
= +12j x =

= x = x + = +(0.8 j
a, =
= +8k x + = - j

= +
= +(0.8 j - (1.2
v, = +(0.800 j - (1.200 k
-
x = x + =
a, = + 2R x
a, = - + m/s
2
)k
PROBLEM15.234
The bar AB is made to rotate at the rate = with
respect to the Irame CD which itselI rotates at the rate about the
Y axis. At the instant shown = 12 = -16
8 =10 rad/s
2
, and = Determine the velocity
and acceleration oI point A at this instant.
= = (0.200 + sin = m)i + m)

Let the Irame rotate about they axis with angular velocity = j = (12 j and angular
= rad/s
2
) jThen, the motion relative to the Irame consists oI rotation about acceleration a =
the axis with constant angular velocity = = (8 and angular acceleration
=
=

= x = x + =
= j x + x
= x + + x = (1.6 m/s
2
)k - (14.4 m/s
2
)i

x = x + = +
a, =
= x + x
= + j - - = (6.4 +&)i - -
= +(0.8 mls) j - (1.2
V, = + (0.800 -(1.200 k

-

I
PROBLEM15.235
In the position shown the thin rod moves at a constant speed
= 60 out oI the tube BC. At the same time tube BCrotates at the
constant rate =1.5 rads with respect to CD. Knowing that the
entire assembly rotates about the X axis at the constant rate
= 1.2 determine the velocity and acceleration oI end A oI
the rod.
SOLUTION
Geometry. = (120 +(180 k
Method 1
Let the rigid body DCB be a rotating oI reIerence.
Its angular velocity is = = (1.2 +(1.5 k.
Its angular acceleration is a = x = = - 1.8 rads
Motionof the coinciaingpoint A in
= x = + x +
= + =
= a x +
= x + + + x (-36j)
= - - + = +(172.8
Motion A relative to the
= ui = (60 = 0
Jelocity A. =
= (60.0 - (36.0 j
Coriolis acceleration. 2R x
x = x 60i = (180 j
Acceleration A. = + x
= +(180.0 j + (172.8
Method 2
Let Irame which at instant shown coincides with rotate with an angular velocity
= = Then the motion relative to the Iiarne consists oI the rotation oI body
about the axis with angular velocity = (1.5 rads)k plus the sliding motion u = ui = (60
oI the rod relative to the body

= x + = x + + 60i = (180 j +(60
= x + x x + + x (ui)
= + x + + x
= (180 j - (270 mm/s
2
)i
=
- 2R
+ + 2R x
PROBLEM15.236
In the position shown the thin rod moves at a constant speed
u = 60 out oI the tube the same time tube rotates at the
constant rate =1.5 with respect to Knowing that the
entire assembly rotates about the X axis at the constant rate
= 1.2 determine the velocity and acceleration oI end A oI
the rod.
= (1 20 j +(1 80 k
Method 1
Let the rigid body be a rotating Frame oI reIerence.
Its angular velocity is = + = (1.2 i - (1.5 k.
Its angular acceleration is a = x = = (1.8

= x = - x +
= + =
= a x + x
1.2 0 -1.5
180 -216
= - + - = (442.8 j - (259.2

= uj = (60
a,, =

= +
= 180i - 216j + + 60j
= 80.0 - (1 56.0 mds ) j + (144.0 k 4
-
x = + x 60j = mm/s
2
)i +(144
i j k
0 1.8 0
0 120 180
+
Acceleration A. = + + 2R x
= - - +
= -(443 -(115.2 4
Method 2
Let Irame which at instant shown coincides with rotate with an angular velocity
R = = Then the motion relative to the Irame consistsoI the rotationoI body DCB
about the axis with angular velocity = k plus the slidingmotion u = = (60 j
oI the rod ABrelative to the body DCB.
Motionof the coinciaingpoint A in the
= = + = + (144
= = (-216j + = -(259.2 mm/s
2
)k
Motion Arelative to the
= + = x + + 60j = (180 + (60 j
= + + + x (uj)
= + x + + x
= +180i = (180 -(270 j
Jelocity of point A. = +
= + - +
= (180.0 -(156.0 j +(144.0 k
acceleration. 2R x
= (2) + 60j) = (144 k
Acceleration A. = + + 2R
= - + - 270j +
= (180.0 -(443 j -(1 15.2 4
in.
PROBLEM15.237
A disk oI 9-in. radius rotates at the constant rate = 12 with
respect to arm CD, which itselI rotates at the constant rate w, = 8
about the Y axis. Determine at the instant shown the velocity and
acceleration oI point on the rimoI the disk.
SOLUTION
Let Irame which coincides with the Iixed Irame at the instant shown, be rotatingabout the y-axis
with constant angular velocity = j = j. Then, the motion relative to the consists oI a
rotation oI the diskABabout the bent axle with constant angular velocity = = (12

v,. = x = 8j x + 9j - = -(60
= 22 x = x (-1 - 60k) = -(480 i + 1152 k

= x = 12k x =
a, = x = 12k x =
v, = - 60k - = - (60
= -(5.00 4
-
222 x = x = (1728 k

= + + x
a, = + I - + = - (1296 j + (2880
a, = -(108.0 + (240 k

in.
PROBLEM15.238
A disk oI radius rotates at the constant rate =12 with
respect to CD, which itselI rotates at the constant rate = 8
about the Y axis. Determine at the instant shown the velocity and
acceleration oI point Bon the rimoI the disk.
.
= (7.5 in.)i - (9 in.) j - 8 in.)
= in.) j
Let Irame whichcoincides with the Iixed at the instant shown, be rotating about they axis
with constant angular velocity = = (8 j Then, the motion relative to the consists oI a
rotation oI the disk AB about the bent axle CD with constant angular velocity = = (12

= x = 8j x - - I 8k) = - (60
= x = x - 60k) = +(1152 in./s
2
) k

= x = 12k x = (108
= x = 12k x 108i = (1296 j

= - 60k +108i = - (60
= - (5.00 4
-
x ( 2)(8j) x (1 = 728 k

a, = + a,, + x
a, = + + -1728 = +(1296 j - (576 in.k
2
)k
a, = +(108.0 j - (48.0 k 4
PROBLEM15.239
The vertical plate shown is welded to EFG, and the entire unit rotates
at the constant rate = 1.6 about the Yaxis. At the same time, a
continuous link belt moves around the perimeter oI the plate at a constant
speed u = 90 For the position shown, determine the acceleration
oI the link oI the belt located at point at point
z X
SOLUTION
Let the moving Irame oI reIerence be the unit less the pulleys and belt. It rotates about they axis with constant
angular velocity R = = (1.6 j The relative motion is that oI the pulleys and belt with speed
u = 90

= mm)i + (380 mm) j
= R = x + = (160
= = 160k = (256
= uk = (90
= (288
= + + 2R = -135j +
= (544 mm/s
2
)i - (135.0 j

= -(100 mm)i + (200 mm) j + (60 mm) k
= = + 200j + 60k) = (96 + (160
= R = (96i + = (256 - (153.6
= -uj = j .
PROBLEM15.240
The vertical plate shown is welded to EFG, and the entire unit rotates
at the constant rate = 1.6 about the Y axis. At the same time, a
continuous link belt moves around the perimeter oI the plate at a constant
speed = 90 For the position shown, determine the acceleration
oI the link oI the belt located at point at point
SOLUTION
Let the moving Irame oI reIerence be the unit less the pulleys and belt. It rotates about they axis with constant
angular velocity = = (1.6 The relative motion is that oI the pulleys and belt with speed
= 90

= + (80 mm) j
= R x = =
= R = x 160k = (256
j = j j
= x (-90k) =
= + + x = +135j - 288i
= + (135.0 j

= mm) + (200 mm) - (60 mm) k
= R x = x + -60k) =
= R x = x + = (256 +(153.6
= = (90 j
=
x = x =
a, = + + x = 256i + + +
a, = (256 + (153.6
PROBLEM15.241
The cylinder shown rotates at the constant rate = 8 with respect
to rod CD, which itselI rotates at the constant rate = 6 about the
Xaxis. For the position shown, determine the velocity and acceleration oI
point on the edge oI the cylinder.
.
SOLUTION
= (6 in.) i -(9 in.) j
Let Irame which coincides with the Iixed Irame the instant shown, be rotatingabout the x axis
with constant angular velocity = q i = (6 Then, the motion relative to the is a spin about the
axle oI angular velocity j = -(8 j

x = -8j x (6i - = (48
x = -8j x 48k =

-
2R

a, = + + 2R x
PROBLEM15.242
The cylinder shown rotatesat the constant rate = 8 with respect
to rod which itselI rotates at the constant rate = 6 about the
Xaxis. For the positionshown, determine the velocity and acceleration oI
point Bon the edge oI the cylinder.
= (6 in.) i - (14 in.) j

Let Irame which coincides with the Iixed Irame at the instant shown, be rotating about the x axis
with constant angular velocity = q i (6 Then, the motionrelativeto the is a spin about the
axle oI angular velocity = -(8 j

= = =
= R x = x (-84k) = (504 in.k
2
) j

= x = -8 x (6i -14j) = (48 k
a,, = x = -8j x 48k =

v, = k + (48 k = k
-
x = x 48k = in.k
2
)

a, = + + 2R x
a, = 504j - - 576j = -(72
a, = -(6.00 j
PROBLEM15.243
Y
A triangular plate and two rectangular platesare welded to each other and
to the straight rod The entire welded unit rotates about axis witha
constant angular velocity oI 5 Knowing that at the instant
A
considered the velocity oI comer E is directed downward, determine the
velocityand acceleration oI comer D.
SOLUTION
= (400 - (300 mm) k = 500 mm
5
= - = (4 - (3
500
= (350 = (0.35m)i
= = (4j - 3k) = j -
which is directeddownward.
= (350 -(300 = (0.35m)i - (0.3 m)k
i j k
O
0.35 0 -0.3
= - (1.050 j - (1.400 k 4
i j k
4 -3
-1.2 -1.05 -1.4
= +(3.60 + (4.80 4
PROBLEM15.244
The pulley has an initial angular velocity oI 0.8 counterclockwise
and a constant angular accelerationoI 1.8 rad/s
2
clockwise. AIter 5 oI
motion, determine the velocity and position oI (a)blockA, (b) blockB.
SOLUTION
= + = (0.8-
At = 5 s, = 0.8 - = -8.2 = 8.2
= + +
2
1 2
At = 5s, = 0 + + = -18.5rad
2
=
(a) BlockA: = = 1.64 = 1.640
= = = 3.7 =
(b) Block B: = = = = 0.738
= = 1.665m = 1.665m
PROBLEM15.245
Knowing that crank has a constant angular velocity of 160
counterclockwise, determine the angular velocity of rod and the
velocity of collar when = =
SOLUTION
16
= = ,
3
= = = 50.265
=
A
6
sin = - = 36.87'
= + Draw vector diagram.
=
50.265
= = 62.831
- 6.2831
10
= 60.0rpm,4
= tan = = 37.7
A
= 37.7 -4
=
Bar is in translation.
= 0
= 50.3 4
PROBLEM15.246
F
SOLUTION
Position vectors. = m) +(0.32 j, = m) i +(0.1 m) j
= -bi +-bj
3
Velocity = k =
= x = x + = (4.8 + (3.6 j
= x = + O. = -
= + - - Resolve into components.
j: 0 = 3.6 - = 12
= Ior vertical motion.
= x =12k x -bi +-bj = -4bi -12bj
= - 4bi - Resolve into components.
i: 0 = 3.6 - b = 0.900 m4
j: = =
= j =10.80
PROBLEM15.247
The spool oI tape shown and its Irame assembly are pulled upward at a
speed v, = 750 Knowing that the 80-mm-radius spool has an
I
angular velocity oI 15 clockwise and that at the instant shown the
total thickness oI the tape on the spool is 20 mm, determine the
instantaneouscenter oI rotation oI the spool, (b) the velocities oI points B
and D.
I "
SOLUTION
= 750
= 15 ,
750
-
o 15
The instantaneous center lies 50 to the right oI the axle 4
CB 80 + 20 - 50 = 50
= (CB) 750
= 750 4
= =
= = (1 = 1950
= 1.950
PROBLEM15.248
Knowing that at the instant shown the angular velocity oI rod AB is 15
rads clockwise, determine (a) the angular velocity oI rod BD, (b) the
velocity oI the midpoint oI rod BD.
SOLUTION
= 15
= = =
Locate the instantaneous center (point oI bar BD by noting that
velocity directions at points B and Dare known. Draw BCperendicular to
and DCperpendicular to
-
3
- = 12 = 12.00
BC 0.25
(b) Locate point M, the midpoint oI rod BD. DrawCM.
BD = = 0.65 m
= 22.62" - = 67.38
0.6
1
CM = DM = MB = = 0.325 m
2
3.9 3.90 67.4"
PROBLEM15.249
An automobile travels to the at a constant speed oI 48 Knowing
that the diameter oI the wheel is 22 in., determine the acceleration oI
point ( h) oI point C, oI point
SOLUTION
= 48 = 70.4 = 844.8 a, = 0.
= = in.
2
Assume that the wheel rolls without slipping, then point Cis the instantaneous center oI the wheel.
v, 844.8
- 76.8 , a = 0.
I I
= = (1 = 64881 or 0 !Us
2
.
= + = + a,
= + = + a, = 5410
= + = +[ a, = 5410!Us
2
4
PROBLEM15.250
Knowingthat at the instant shownrod AB has a constant angularvelocity
of 15 counterclockwise, determine (a) the angular acceleration of
rod DE, (b)the accelerationof point D.
SOLUTION
3
= -, =
4
A
cos 4
4
c
cosp
= =
= 75
= =
Point is the instantaneous center of bar BD.
5 75
= 6.25 in. = = = 12
cos 6.25
5
= = 6.25 in. = = 75
cosp
75
=-=
DE 5
Acceleration analysis. a,, =
+
= + = 1125 i nk
2
I +
I +
= +
+
= +
tan =

1
PROBLEM15.251
Two rods AE and BDpass through holes drilled into a hexagonal block.
(The holes are drilled in diIIerent planes so that the rods will not touch
each other.) Knowing that at the instant considered rod AE rotates
counterclockwise with a constant angular velocity determine the
relative velocity oI the block with respect to each rod when =
SOLUTION
Geometry. = 180" - = 90" - =
A
LawoI sines.
AH BH I
-=-=-
s i n ~
AH 1.115361
sin
a
sin
The angle between rodsAE and BDremains at
analysis oI rodAE with slider H.
VelocityoI corresponding point H' on rodAE.
= = 1.1153610 = 1.1153610
VelocityoI slider H relative to rod AE.
=
+ +
Velocityanalysis oI rodBDwithslider H.
VelocityoI corresponding point on rod BD.
= 0.8165010 0.8165010
Velocity oI slider H relative to rod BD.
+ +
Equate the two expressions for and resolve into components.
+
= +
1.1 -
= +
Solving(1) and(2) simultaneously,
0.8171~
=
0.81710
PROBLEM15.252
The motion oI pin D is guided by a cut in rod ABand a slot cut in the
Iixed plate. Knowing that at the instant shown rod AB rotates with an
angular velocity oI 3 and an angular acceleration oI 5 rad both
clockwise, determine the acceleration oI pin D.
SOLUTION
= - - =
LawoI sines.
AD AE
sing,
.
AD
A
E sin
Let slotted rod ABbe a rotating Irame oI reIerence.
3 5
AB.
= =
= 1.058
= i nh
2
+
D AB.
= =
- - = =
--
+
= -
Solving and (2) simultaneously,
32.15 8.322
acceleration.
= = 49.932 in./s
2
45"
a
D
cos30
0
= -
+ +
=
- usin45" + 49.932sin 45"
Solving (3) and (4) simultaneously,
PROBLEM15.253
Three rods are welded together to Iorm the comer assembly shown that is
attached to a Iixed joint at The end oI rod OA moves
on the inclined plane Dthat is perpendicular to the plane. The end oI
rod OB moves on the horizontal plane E. Knowing that at the instant
shown = the angular velocity oI the
assembly, the velocity oI point C.
SOLUTION
Rotation about the Iixed point
i j k
= o x = = -
0 0 8
1
-
i j k
= o x = =
~ 6 0 0
Hence, = and =
Then, = and w,, =

PROBLEM15.254
The oI length 5 m is used to provide an elevated platIorm Ior
construction workers. In the position shown, arm is being raised at the
constant rate = 0.25 simultaneously, the unit is being
rotated counterclockwise about the Yaxis at the constant rate , = 0.15
Knowing that = determine the velocity and acceleration oI
point
SOLUTION
Let moving Irame rotate about the Y axis with angular velocity
= = (0.15 j
= + = m)i + (1.7101 m)
Place point on Yaxis at same level as point
= + = +(0.8 m)i = m)i + m) j
-
= x = x +1.71 j) = (0.58477 k
= = = (0.087715 i
= k = (0.25 k
= x = +
= -(0.42753 i +(1.17462
= x = +
= (0.29365 + (0.106881 j

+
= i + (1.175 j + (0.585 k
= j) x + 17462j)
= 128259 k
= + + x
= (0.381 +(0.1069 - (0.1283

Beer Dinamica - Capitulo 15

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Beer Dinamica - Capitulo 15

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PROBLEM15.

Let Dbe the contact point between gears A andB.

Let point be the point oI contact betweenthe and the ring.

Assume uniIormly accelerated motion. =

For the drum, = = m/s

For the reel:

DiskA: Plane motion = Translation with + Rotationabout

Plane motion = Translation with E+ Rotation about E.

Draw velocity vectordiagram.

d = 560 = -= 280 mm = 0.28 m

acceleration oI 19.2 in./s

Fromwhich = 9.6 and a, = 12 = 9.6 in./s

Since does not sliponthe rails,

A gun barrel oI length OP =12 is mounted on a turret as shown. To

By solving the quadratic equation = 120 mm

= (-0.16 m) k, = m) + (0.4 m) - (0.16 m) k

= (-0.16 m)k, = (-0.24 m)i +(0.42 m) j + (0.32 m)k

Let = be the angular velocity oI rod ABrelative to collar B.

Let = be the angular velocity oI rod relativeto collar

= (0.23313 j-(1.11803 +(2.23607 k

(14.4 in.) = (6 +(20.8 in.) k

With the origin at A, = (6.75 in.) j

With the origin at A, = (6.75 in.) +(4.5

Frame is rotatingwithangular velocity

= = (0.200 m) (cos +sin = (0.1 m)i + m) j

= = (0.200 + sin = m)i + m)

= (6 in.) i - (14 in.) j

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